9-9
9-2 Gain Settings
OMNUC G5-series AC Servomotors and Servo Drives User’s Manual (with Built-in EtherCAT Communications)
9
Details on Servo Parameter Objects
 Set the responsiveness of the second speed loop.
 Set the second speed loop integral time constant.
 Set the second speed feedback filter.
 Set the second torque filter time constant.
The objects from 3105 to 3109 hex are the gain and time constants to be selected when the Gain
Switching Input Operating Mode Selection (3114 hex) is enabled.
The gain is switched according to the condition set in the Switching Mode (3115 hex, 3120 hex,
and 3124 hex).
If the mechanical system inertia changes greatly or if you want to change the responsiveness
depending on whether the motor is rotating or being stopped, you can achieve the appropriate
control by setting the gains and time constants beforehand for each of these conditions, and
switching them according to the condition.
This object is automatically changed by executing realtime autotuning function. To set it manually,
set the Realtime Autotuning Mode Selection (3002 hex) to 0.
Set the feed-forward gain.
Increasing the set value decreases the position error and increases the responsiveness.
Overshooting, however, will occur more easily.
Refer to 11-11 Feed-forward Function on page 11-29.
3106 hex
Speed Loop Gain 2
Setting
range
1 to 32767 Unit 0.1 Hz
Default
setting
270
*1
Data
attribute
B
Size 2 bytes (INT16) Access RW PDO map Not possible.
*1. The default setting is 180 for a Drive with 200 V and 1 kW or greater, or with 400 V.
All
3107 hex
Speed Loop Integral Time Constant 2
Setting
range
1 to 10000 Unit 0.1 ms
Default
setting
10000
Data
attribute
B
Size 2 bytes (INT16) Access RW PDO map Not possible.
All
3108 hex
Speed Feedback Filter Time Constant 2
Setting
range
0 to 5 Unit −
Default
setting
0
Data
attribute
B
Size 2 bytes (INT16) Access RW PDO map Not possible.
All
3109 hex
Torque Command Filter Time Constant 2
Setting
range
0 to 2500 Unit 0.01 ms
Default
setting
84
*1
*1. The default setting is 126 for a Drive with 200 V and 1 kW or greater, or with 400 V.
Data
attribute
B
Size 2 bytes (INT16) Access RW PDO map Not possible.
All
3110 hex
Speed Feed-forward Gain
Setting
range
0 to 1000 Unit 0.1%
Default
setting
300
Data
attribute
B
Size 2 bytes (INT16) Access RW PDO map Not possible.
csp
To Next Page
Loading...
Need help?
General
