Omron R88M-K Series User Manual page 556

10-3 Manual Tuning
Pn101 and Pn106 Speed Loop Gain
The speed loop gain determines the responsiveness of the servo.
This value becomes the response frequency if the Inertia Ratio (Pn004) is set correctly.
Increasing the value of the speed loop gain improves the responsiveness and quickens
positioning, but vibration is more likely to occur. Adjustment must be made so vibration will not
occur.
This is related to Speed Loop Integral Time Constant (Pn102), and by increasing the integral
time constant, the speed loop gain value can be increased.
 If the speed loop gain is low, the speed response becomes slow and a large overshooting occurs.
In such case, increase the speed loop gain.
 If the speed loop gain is high, vibrations are more likely to occur. Vibration or resonance may not
disappear.
In such case, decrease the speed loop gain.
10
10-15
Command operation pattern
Speed
(r/min)
Command operation pattern
Speed
(r/min)
OMNUC G5-SERIES AC SERVOMOTOR AND SERVO DRIVE USER'S MANUAL
Time t
Time t
Actual operation
Actual operation