Omron R88D-KT Series - Page 449

8-12
8-2 Gain Parameters
OMNUC G5-SERIES AC SERVOMOTOR AND SERVO DRIVE USER'S MANUAL
8
Parameter Details
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.
Setting the filter may improve operation if speed overshooting occurs or the noise during operation
is large when the feed-forward is set high.
Set the feed-forward amount in the torque loop. 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.
Setting the filter may improve operation if speed overshooting occurs or the noise during operation
is large when the feed-forward is set high.
Explanation of Set Values
 Select either PI/P operation switching or gain 1/gain 2 switching.
PI/P operation switching is performed using gain switching (GSEL: CN1 pin 27). PI is not changed,
however, if the Torque Limit Selection (Pn521) is set to 3.
 For information on switching conditions between gain 1 and gain 2, refer to "6-7 Gain Switching
Function" (P.6-24).
If autotuning is enabled, feedforward gain and filter are set at a fixed value.
Pn110
Speed Feed-forward Amount
Setting
range
0 to 1,000 Unit 0.1%
Default
setting
300
Power OFF
and ON
−
Position
Fully-closed
Pn111
Speed Feed-forward Command Filter
Setting
range
0 to 6,400 Unit 0.01 ms
Default
setting
50
Power OFF
and ON
−
Position
Fully-closed
Pn112
Torque Feed-forward Amount
Setting
range
0 to 1,000 Unit 0.1%
Default
setting
0
Power OFF
and ON
−
Position
Speed
Fully-closed
Pn113
Torque Feed-forward Command Filter
Setting
range
0 to 6,400 Unit 0.01 ms
Default
setting
0
Power OFF
and ON
−
Position
Speed
Fully-closed
Pn114
Gain Switching Input Operating Mode Selection
Setting
range
0 or 1 Unit −
Default
setting
1
Power OFF
and ON
−
All
Set
value
Description
0 Gain 1 (PI/P switching enabled)
1 Gain 1/gain 2 switching available
Gain input Speed loop operation
GSEL OFF PI operation
GSEL ON P operation