Omron trajexia CJ1W-MCH72 Operation Manual page 26

Servo system principles
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 · ∆P
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
produces an output O
vff
and minimizes the
d
Default value
0.1
0.0
0.0
0.0
0.0
Section 1-4
that is
vff
15