Omron OMNUC R88D-WT15HF User Manual

6-18
Param-
eter
No.
Restart
power?
Setting
range
UnitDefault
setting
Explanation (See note 1.)Parameter
name
Param-
eter
No.
Restart
power?
Setting
range
UnitDefault
setting
Explanation (See note 2.)
Set-
ting
NameDigit
No.
Parameter
name
Pn108 Bias
addition
band
Sets the position control bias operation start using deviation
counter pulse width.
7 Command
unit
0 to 250 ---
Pn109 Feed-for-
ward
amount
Position control feed-forward compensation value 0 % 0 to 100 ---
Pn10A Feed-for-
ward com-
mand filter
Sets position control feed-forward command filter. 0 x 0.01 ms 0 to 6400 ---
Pn10b Speed
control
tti
0 P control
switching
diti
0 Sets internal torque command
value conditions (Pn10C).
0004 --- --- Yes
setting
g
conditions
1 Sets speed command value
conditions (Pn10d).
2 Sets acceleration command
value conditions (Pn10E)
3 Sets deviation pulse value
conditions (Pn10F)
4 No P control switching function
1 Speed
control loop
0 PI control
contro
l l
oop
switching
1 IP control
2 Automatic
gain
it hi
0 Automatic gain switching
disabled
g
switching
selection**
1 Gain switching using position
commands
2 Gain switching using position
deviation
3 Gain switching using position
commands and position
deviation
3 Not used. 0 (Do not change setting.)
Pn10C P control
switching
(torque
command)
Sets level of torque command to switch from PI control to P
control.
200 % 0 to 800 ---
Pn10d P control
switching
(speed
command)
Sets level of speed command to switch from PI control to P
control.
0 r/min 0 to
10000
---
Pn10E P control
switching
(accelera-
tion com-
mand)
Sets level of acceleration command to switch from PI control
to P control.
0 10 r/min/s 0 to 3000 ---
Pn10F P control
switching
(deviation
pulse)
Sets level of deviation pulses to switch from PI control to P
control.
10 Command
unit
0 to
10000
---
Appendix Chapter 6

Omron OMNUC R88D-WT15HF Specifications

General

Brand	Omron
Model	OMNUC R88D-WT15HF
Category	Servo Drives
Language	English