Omron R88D-GT series User Manual page 440

7-5 Manual Tuning
Level
7
7-29
Speed V
Torque T
ΔT
Time
Gain 1
1 2 2
1
Speed V
Level
Time
Gain 1 Gain 2
Command speed S
Gain 1
Gain 2 only for Speed Loop Integration Time Constant. Gain 1 for others.
Figure A
Speed V
Accumulated pulses
Level
Gain 1
H
Command speed S
L
L
H
2 2 1
Gain 1
1
Actual speed N
Figure B
H
L
Gain 1
INP
Gain 1
Actual speed N
Time
Gain 2
Figure C
H
L
Time
1
Gain 2
Figure D
Time
Gain 2
1
Figure E
Time
1
Gain 2
Figure F
H
Level
L
Gain 1