Omron trajexia CJ1W-MCH72 Operation Manual page 287

How-to's
276
Example 5
The value of the parameter P_GAIN is set to the value in example 1. The
value of VFF_GAIN is increased. The Following Error is reduced without a
reduction to the stability. The Following Error is not proportional to the speed.
The parameter values for the example are:
/i
Motion Parameter values
P_Gain=131072
VFF_GAIN=1400000
Fn001=6
Section 5-1