Omron R88D-KN01L-ECT-L User Manual page 284

9 Servo Parameter Objects
Speed Loop Gain 1
3101 hex
Setting 1 to 32,767
range
Size 2 bytes (INT16)
*1 The default setting is 180 for a Drive with 200 V and 1 kW or greater, or for a Drive 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 the Speed Loop Gain 1 (3101 hex) is Hz if the Mass Ratio (3004 hex) is set
correctly.
Response when the speed loop gain is changed.
Motor speed
Speed Loop Integral Time Constant 1
3102 hex
Setting 1 to 10,000
range
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.
Response when the speed loop integral time constant is changed.
Motor speed
9 - 8
0.1 Hz
Unit
Access
Overshooting occurs if the speed loop gain is high.
(Vibration occurs if the gain is too high.)
Speed loop gain is low.
0.1 ms
Unit
Access
Overshooting occurs if the speed loop
integral time constant is small.
Speed loop integral time
constant is large.
G5-series Linear Motors/Servo Drives With Built-in EtherCAT Communications
Default *1
270
setting
RW PDO map
Time
Default *1
210
setting
RW PDO map
Time
A l l
Data B
attribute
Not possible
A l l
Data B
attribute
Not possible