Omron TJ2-MC02 Hardware Reference Manual page 28

System philosophy
O = K · ÄE
d d
Derivative gain may create a smoother response. High values may lead
to oscillation. The derivative gain axis parameter is called D_GAIN.
• Output speed gain
The output speed gain K produces an output O
ov
the change in the measured position P
O = K · ÄP
ov ov m
The output speed gain can be useful for smoothing motions but will
generate high Following Errors. The output speed gain axis parameter is
called OV_GAIN.
• Speed feed forward gain
The speed feedforward gain K
proportional to the change in demand position P
Following Error at high speed.
O = K · ÄP
vff vff d
The parameter can be set to minimise the Following Error at a constant
machine speed after other gains have been set. The speed feed forward
gain axis parameter is called VFF_GAIN.
The default settings are given in the table along with the resulting profiles.
Fractional values are allowed for gain settings.
/i
Gain
Proportional gain
Integral gain
Derivative gain
Output speed gain
Speed feedforward gain
2.3.4 Position loop algorithm in the Servo Drive
Refer to the Servo Drive manual for details.
HARDWARE REFERENCE MANUAL
that is proportional to
ov
and increases system damping.
m
produces an output O that is
vff vff
and minimizes the
d
Default value
0.1
0.0
0.0
0.0
0.0
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