Omron R88M-K Series User Manual page 445

Pn101
Speed Loop Gain
Setting
1 to 32,767
range
 The default setting is 180 for 200-V Servo Drives of 1 kW or higher, and 400-V Servo Drives.
 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 too high, however, may result in
vibration.
The setting unit for Pn101 will be Hz if the Inertia Ratio (Pn004) is set correctly.
When the speed loop gain is changed, the response is as shown in the following diagram.
Motor speed
Pn102
Speed Loop Integral Time Constant
Setting
1 to 10,000
range
 The default setting is 310 for 200-V Servo Drives of 1 kW or higher, and 400-V Servo Drives.
 Set the speed loop integral time constant.
 The smaller the set value, the faster the error approaches 0 when stopping. Set to 9,999 to
maintain integration. Set to 10,000 to invalidate the effect of integration.
When the speed loop integral time constant is changed, the response is as shown in the
following diagram.
Motor speed
OMNUC G5-SERIES AC SERVOMOTOR AND SERVO DRIVE USER'S MANUAL
Unit 0.1 Hz
Overshooting occurs if the speed loop gain is high.
(Vibration occurs if the gain is too high.)
Speed loop gain is low.
Unit 0.1 ms
Overshooting occurs if the speed loop integral
time constant is small.
Speed loop integral
time constant is large.
8-2 Gain Parameters
Default Power OFF
270 *
setting and ON
Default Power OFF
210 *
setting and ON
All
−
Time
All
−
8
Time
8-10