Omron G5 Series User Manual page 443

Speed Loop Integral Time Constant (Pn102, 107)
The speed loop integral time constant also determines the responsiveness of a Servo Drive.
• If the speed loop integral time constant is low, vibration or resonance occurs.
In such case, increase the speed loop integral time constant.
Speed
[r/min]
• If the speed loop integral time constant is high, the response is delayed. The servo rigidity
becomes weak.
In such case, decrease the speed loop integral time constant.
Speed
[r/min]
Torque Command Filter Time Constant (Pn104, 109) for Current Loop Input
Adjustment
The torque command filter function applies a filter that smoothens the current command from the
speed loop. This ensures a smooth current flow and reduced vibration.
Torque Command Filter Time Constant is set to 84 (0.84 ms) by default.
Increase the value to decrease vibration. However, increasing the value results in slower response.
Set the value to approximately 1/25 of the value set in Speed Loop Integral Time Constant (Pn102).
The torque command filter also reduces vibration due to the machine rigidity.
This parameter is related to Speed Loop Gain (Pn101), so increasing the Torque Command Filter
Time Constant value does not reduce vibration if the value set in Pn101 is too large.
If the Servomotor is subject to mechanical resonance with ball screws or other parts, use the notch
filter parameters Pn201, Pn204, Pn207, and Pn210, or enable the adaptive filter to reduce the
vibration.
OMNUC G5-series (Pulse-train Input Type) AC Servomotors and Servo Drives User's Manual
Command operation pattern
Time t
Command operation pattern
Time t
9 Adjustment Functions
Actual operation
Actual operation
9
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