Omron R88D-GT series User Manual page 347

Pn11 Speed Loop Gain
Setting range 1 to 3500
• Use this parameter to determine 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 the Speed Loop Gain too high,
however, may result in oscillation.
• The setting unit for Pn11 will be Hz if the Inertia Ratio (Pn20) is set correctly.
When the speed loop gain is changed, the response is as shown in the following diagram.
Servomotor
speed
Pn12
Speed Loop Integration Time Constant
Setting range 1 to 1000
• Use this parameter to set the speed loop integration time constant.
• The smaller the setting, the faster the deviation will come close to 0 when stopping. If 1000 is set,
the integral will be ineffective.
When the speed loop integration time constant is changed, the response is as shown in the fol-
lowing diagram.
Servomotor
speed
Unit Hz
Overshoots when speed loop gain is
high. (Oscillates when gain is too high.)
When speed loop gain is low.
Unit ms
Overshoots when speed loop integration time constant is small.
When speed loop integration
time constant is large.
5-16 User Parameters
Default setting 50
Power OFF→ON
Default setting 20
Power OFF→ON
All modes
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5
Time
All modes
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Time
5-60