Omron R88D-KN series User Manual page 317

Current Loop Proportional Gain
3913 hex
Setting range 0 to 32767
Size 2 bytes (INT16)
• Set the current loop proportional gain.
• Normally, use the value automatically set via the Current Response Auto-adjustment (3912 hex)
object as is.
Current Loop Integral Gain
3914 hex
Setting range 0 to 32767
Size 2 bytes (INT16)
• Set the current loop integral gain
• Normally, use the value automatically set by the Current Response Auto-adjustment (3912 hex)
object.
Two-stage Force Filter Time Constant
3915 hex
Setting range 0 to 2500
Size 2 bytes (INT16)
• Set the two-stage force filter time constant.
• When set to 0, this object is disabled.
When used for the secondary filter with the Two-stage Force Filter
Attenuation Term (3916 hex) set to greater than or equal to 50
The supported time constant is 5 to 159 (0.05 to 1.59 ms), which is equivalent to a frequency of
100 to 3,000 Hz. The set values 1 to 4 correspond to the time constant 5 (3,000 Hz); the set
values 159 to 2500 correspond to the time constant 159 (100 Hz).
Precautions for Correct Use Precautions for Correct Use
Setting an excessively large value may cause an unstable control behavior, resulting in vibration.
Adjust the value while checking the operating conditions.
G5 Series AC Servo Drives With Built-in EtherCAT Communications, Linear Motor Type
Unit – Default setting
Access
Unit – Default setting
Access
Unit 0.01 ms Default setting
Access
9 Servo Parameter Objects
50 Data Attribute
RW PDO map
10 Data Attribute
RW PDO map
0 Data Attribute
RW PDO map
All
B
Not possible.
All
B
Not possible.
All
B
Not possible.
9
9-59