R88A-CSU015C Omron, R88A-CSU015C Datasheet - Page 186

• Manufacturer Part Number: R88A-CSU015C
• Description: ABSOLUTE ENCODER CABLE,15M
• Manufacturer: Omron

Specifications of R88A-CSU015C

• Lead Free Status / Rohs Status: Lead free / RoHS Compliant

Operation
3-74
AJ7.
AJ8.
AJ9.
If any value other than “0” is set for this parameter, the speed loop integral gain will be disabled when
stopped, and the speed loop proportional gain will be suppressed.
As the set value is increased, the amount of suppression is increased and the speed loop proportion
gain is lowered.
Adjust this parameter if the motor makes abnormal noises when stopping.
This parameter is effective when the position loop gain is low (25 rad/s). It is not effective when the
position loop gain is high.
Feed forward adds to the speed loop directly without going through the error counter, so responsive-
ness is increased without the error counter’s integral term being entered (when the load system oper-
ates without reference delays).
Before the feed-forward gain can be adjusted, the position loop must be fully adjusted and the speed
loop must be operating with stability. Check to make sure that these conditions are met before attempt-
ing to adjust the feed-forward gain.
When the feed-forward amount is set too high, the speed reference becomes like a sawtooth wave
and the motor makes abnormal noises. Raise the value gradually, beginning with 0.0 (multiple).
Make the adjustment so that the positioning completion output does not repeatedly turn ON and OFF,
and so that there is no speed overshooting.
This parameter specifies the current reference cut-off frequency.
Gradually lower this value if vibration occurs due to a mechanical resonance frequency.
PRM No.
PRM No.
PRM No.
Position data
creation area
Interrupt gain suppression 0 to 10,000
Feed-forward gain
Current reference filter
Parameter name
Parameter name
Parameter name
Deviation
counter
Feed forward gain
Encoder/resolver
Position
loop
0.0 to 2.0
400 to 20,000 rad/s
Setting range
Setting range
Setting range
Speed detection
Speed loop
---
Multiple
Unit
Unit
Unit
Current loop
Motor
0
0.0
6,000
Factory setting
Factory setting
Factory setting
Chapter 3