Omron R88D-KN series User Manual page 266

9 Servo Parameter Objects
Speed Loop Gain 1
3101 hex
1 to 32767
Setting range
Size 2 bytes (INT16)
*1 The default setting is 180 for a Drive with 200 V and 1 kW or greater, or with 400 V.
• This object determines speed loop responsiveness.
• The setting for the speed loop gain must be increased to increase the position loop gain and improve
the responsiveness of the entire servo system. Setting too high, however, may result in vibration.
• The setting unit for the Speed Loop Gain 1 (3101 hex) is Hz if the Mass Ratio (3004 hex) is set
correctly.
Response when the speed loop gain is changed.
Motor speed
Speed Loop Integral Time Constant 1
3102 hex
1 to 10000
Setting range
Size 2 bytes (INT16)
*1 The default setting is 310 for a Drive with 200 V and 1 kW or greater, or with 400 V.
• Set the speed loop integral time constant.
• The smaller the set value, the faster the error approaches "0" when stopping.
Response when the speed loop integral time constant is changed.
Motor speed
9-8
0.1 Hz Default setting
Unit
Access
Overshooting occurs if the speed loop gain is high.
(Vibration occurs if the gain is too high.)
Speed loop gain is low.
0.1 ms Default setting
Unit
Access
Overshooting occurs if the speed loop integral
time constant is small.
Speed loop integral
time constant is large.
G5 Series AC Servo Drives With Built-in EtherCAT Communications, Linear Motor Type
*1
Data attribute
270
RW PDO map
*1
Data attribute
210
RW PDO map
All
B
Not possible.
Time
All
B
Not possible.
Time