Omron G5 Series User Manual page 345

Pn101 Speed Loop Gain
Setting 1 to 32,767
range
*1 The default setting is 180 for a Servo Drive with 200 V and 1 kW or more.
• This parameter determines 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 it too high, however, may result in vibration.
• The setting unit for Pn101 is Hz when Inertia Ratio 1 (Pn004) is set correctly.
Response for Speed Loop Gain Changes
Motor speed
Pn102
Speed Loop Integral Time Constant
Setting 1 to 10,000
range
*1 The default setting is 310 for a Servo Drive with 200 V and 1 kW or more.
• Set the speed loop integral time constant.
• The smaller the set value, the faster the error approaches 0 when stopping. When set to 9,999, the
effect of integration will be held. However, it will be lost when set to 10,000.
Response for Speed Loop Integral Time Constant
Motor speed
Pn103 Speed Feedback Filter Time Constant
Setting 0 to 5
range
• Set the time constant for the low pass filter (LPF) after speed detection in six levels (0 to 5).
• Increasing the set value increases the time constant and decreases the noise generated by the
Servomotor. Responsiveness, however, also decreases.
• Normally, use the default set value.
OMNUC G5-series (Pulse-train Input Type) AC Servomotors and Servo Drives User's Manual
Unit 0.1 Hz
If speed loop gain is high, overshooting occurs
(If the gain is high, vibration occurs.)
Speed loop gain is low
Unit 0.1 ms
If speed loop integral time constant is low,
overshooting occurs
If speed loop integral
time constant is high
Unit –
7 Parameter Details
Default *1 Cycle the
270
setting power supply
Default *1 Cycle the
210
setting power supply
Default 0 Cycle the
setting power supply
All
–
Time
All
–
7
Time
All
–
7 - 11