Omron OMNUC G5 Series

9-43
9-7 Special Objects
OMNUC G5-series AC Servomotors and Servo Drives User’s Manual (with Built-in EtherCAT Communications)
9
Details on Servo Parameter Objects
Set the hybrid vibration suppression gain during fully-closed control.
In general, set it to the same value as the position loop gain, and finely adjust it based on the
situation.
Refer to 11-10 Hybrid Vibration Suppression Function on page 11-28.
Set the hybrid vibration suppression filter.
Refer to 11-10 Hybrid Vibration Suppression Function on page 11-28.
 Set the vibration detection threshold.
If torque vibration that exceeds this setting is detected, a vibration detection warning occurs.
Refer to 12-2 Warnings on page 12-4.
This object is set in units of 0.1% of the rated torque.
 Set the warning detection mask setting.
If you set the corresponding bit to 1, the corresponding warning detection is disabled.
 Refer to the General Errors in 12-2 Warnings on page 12-4.
3634 hex
Hybrid Vibration Suppression Gain
Setting
range
0 to 30,000 Unit 0.1/s
Default
setting
0
Data
attribute
B
Size 2 bytes (INT16) Access RW PDO map Not possible.
csp full
3635 hex
Hybrid Vibration Suppression Filter
Setting
range
0 to 6,400 Unit 0.01 ms
Default
setting
10
Data
attribute
B
Size 2 bytes (INT16) Access RW PDO map Not possible.
3637 hex
Vibration Detection Threshold
Setting
range
0 to 1,000 Unit 0.1%
Default
setting
0
Data
attribute
B
Size 2 bytes (INT16) Access RW PDO map Not possible.
csp full
All
3638 hex
Warning Mask Setting
Setting
range
−32,768 to 32,767 Unit −
Default
setting
4
Data
attribute
C
Size 2 bytes (INT16) Access RW PDO map Not possible.
All