Omron SMARTSTEP 2 R88M-G Series User Manual page 222

5-10 User Parameters
Pn11
Setting range
 This gain adjusts the speed loop response.
 Increase the gain to increase servo rigidity. Generally, the greater the inertia ratio, the higher the
setting. If the gain is too high, it causes oscillation.
 This parameter is automatically changed by executing realtime autotuning function. To set it
manually, set the Realtime Autotuning Mode Selection (Pn21) to 0.
When the speed loop gain is changed, the response is as shown in the following diagram.
Servomotor
speed
5
Pn12
Setting range
 Set the speed loop integration time constant.
 The higher the setting, the lower the responsiveness and the lower the resiliency to external force.
If the setting is too low, it causes oscillation.
 This parameter is automatically changed by executing realtime autotuning function. To set it
manually, set the Realtime Autotuning Mode Selection (Pn21) to 0.
When the speed loop integration time constant is changed, the response is as shown in the
following diagram.
Servomotor
speed
Pn13
Setting range
 The encoder signal is converted to the speed signal via the low pass filter.
 The higher the setting, the higher the time constant and the lower the noise level generated by the
Servomotor. Normally, use a setting of 4 or less.
 This parameter is automatically changed by executing realtime autotuning function. To set it
manually, set the Realtime Autotuning Mode Selection (Pn21) to 0.
5-37
Speed Loop Gain
1 to 3500 Unit
Overshoots when the speed loop gain is
high. (Oscillates when the gain is too high.)
When the speed loop gain is low.
Speed Loop Integration Time Constant
1 to 1000 Unit
Overshoots when the speed loop integration time constant
is small.
When the speed loop integration
time constant is large.
Speed Feedback Filter Time Constant
1 to 5 Unit
Hz Default setting
ms Default setting
--- Default setting
All modes
60 ---
Power OFF → ON
Time
All modes
20 ---
Power OFF → ON
Time
All modes
0 ---
Power OFF → ON