Omron trajexia CJ1W-MCH72 Operation Manual page 288

How-to's
Example 6
With this value of VFF_GAIN the Following Error is proportional to the
acceleration, and smaller than with just proportional gain (the scaling is 20
units/division). The Following Error approaches zero during constant speed.
The negative effect of this set of values is the overshoot and undershoot when
the acceleration changes; this can be reduced but not eliminated by increasing
the speed loop gain, if the mechanical system can cope with a high gain.
The parameter values for the example are:
/i
Motion Parameter values
P_Gain=131072
VFF_GAIN=1573500
Fn001=6
Section 5-1
277