Omron G5 Series User Manual

7 - 13
7 Parameter Details
OMNUC G5-series (Pulse-train Input Type) AC Servomotors and Servo Drives User’s Manual
7-2 Gain Parameters
7
• Set the feed-forward amount. Increasing the set value decreases the position error and increases the
responsiveness. Overshooting, however, will occur more easily.
• Set the time constant for the first-order lag filter inserted into the feed-forward section.
• When the feed-forward value is set high to cause overshooting of speed or a large noise during
operation, setting this filter may provide improvements.
• Set the feed-forward gain in torque control. Increasing the set value decreases the position error and
increases the responsiveness. Overshooting, however, will occur more easily.
• Set the time constant for the first-order lag filter inserted into the feed-forward section.
• When the feed-forward value is set high to cause overshooting of speed or a large noise during
operation, setting this filter may provide improvements.
Explanation of Set Values
• Select either PI/P operation switching or Gain 1/Gain 2 switching.
• The PI/P operation switching is performed with the Gain Switching (GSEL: CN1 pin 27). However,
this setting is fixed to PI when Torque Limit Selection (Pn521) is set to 3.
• Refer to 6-7 Gain Switching Function on page 6-23 for the Gain 1/Gain 2 switching.
Pn110
Speed Feed-forward Amount
Setting
range
0 to 1,000 Unit 0.1% Default
setting
300 Cycle the
power supply
–
Pn111
Speed Feed-forward Command Filter
Setting
range
0 to 6,400 Unit 0.01 ms Default
setting
50 Cycle the
power supply
–
Pn112
Torque Feed-forward Amount
Setting
range
0 to 1,000 Unit 0.1% Default
setting
0 Cycle the
power supply
–
Pn113
Torque Feed-forward Command Filter
Setting
range
0 to 6,400 Unit 0.01 ms Default
setting
0 Cycle the
power supply
–
Pn114
Gain Switching Input Operating Mode Selection
Setting
range
0 to 1 Unit – Default
setting
1 Cycle the
power supply
–
Set value Description
0 Gain 1 (PI/P switching enabled)
1 Gain 1/Gain 2 switching enabled
Gain input Speed loop operation
COM and open PI operation
Connection with COM P operation
Position
Position
Position Speed
Position Speed
All

Omron G5 Series Specifications

General

Feedback	Incremental Encoder, Absolute Encoder
Communication	EtherCAT
Safety Function	STO (Safe Torque Off)
Protection Functions	Overvoltage, Undervoltage, Overcurrent
Vibration Resistance	4.9 m/s² (10 to 55 Hz)