Omron R88M-K User Manual page 412

9 Details on Servo Parameter Objects
Speed Loop Gain 1
3101 hex
Setting range 1 to 32767
Size 2 bytes (INT16)
*1 The default setting is 180 for a Drive with 200 V and 1 kW or greater, or with 400 V.
• This object determines speed loop responsiveness.
• The setting for the speed loop gain must be increased to increase the position loop gain and improve
the responsiveness of the entire servo system. Setting too high, however, may result in vibration.
• The setting unit for 3101 hex is Hz if the Inertia Ratio (3004 hex) is set correctly.
When the speed loop gain is changed, the response is as shown in the following diagram.
Motor speed
Speed Loop Integral Time Constant 1
3102 hex
Setting range 1 to 10000
Size 2 bytes (INT16)
*1 The default setting is 310 for a Drive with 200 V and 1 kW or greater, or with 400 V.
• Set the speed loop integral time constant.
• The smaller the set value, the faster the error approaches 0 when stopping.
When the speed loop integral time constant is changed, the response is as shown in the following
diagram.
Motor speed
9-8
Unit 0.1 Hz
Access
Speed loop gain is low.
Unit 0.1 ms
Access
Speed loop integral
time constant is large.
G5-series AC Servomotors and Servo Drives User's Manual (with Built-in EtherCAT Communications)
Default setting
RW
Overshooting occurs if the speed loop gain is high.
(Vibration occurs if the gain is too high.)
Default setting
RW
Overshooting occurs if the speed loop integral
time constant is small.
*1 Data attribute
270
PDO map Not possible.
Time
Data attribute
*1
210
PDO map Not possible.
Time
All
B
All
B