Omron OMNUC G5 R88M-K series User Manual page 369

Pn101, Pn106 Speed Loop Gain
The speed loop gain determines the responsiveness of the servo.
This value becomes the response frequency if the Inertia Ratio (Pn004) is set correctly.
Increasing the value of the speed loop gain improves the responsiveness and quickens
positioning, but vibration is more likely to occur. Adjustment must be made so vibration will not
occur.
This is related to Speed Loop Integral Time Constant 1 (Pn102), and by increasing the
integration time constant, the speed loop gain value can be increased.
 If the speed loop gain is low, the speed response becomes slow and a large overshooting occurs.
In such case, increase the speed loop gain.
Command operation pattern
Speed
(r/min)
 If the speed loop gain is high, vibrations are more likely to occur. Vibration or resonance may not
disappear.
In such case, decrease the speed loop gain.
Speed
(r/min)
OMNUC G5-Series AC Servo Drives Users Manual (Built-in MECHATROLINK-II communications type)
Time t
Command operation pattern
Time t
10-4 Manual Tuning
Actual operation
Actual operation
10
10-18