Omron R88M-W60010T User Manual page 234

Operation
• When 1 (warnings not detected) is set, the following warnings are not detected.
A.900, A.901, A.910, A.911, A.920, A.930
Pn008.3 Not used.
Setting ---
range
Note Do not change setting.
Gain Parameters (from Pn100)
■
Pn100 Speed loop gain (Position, speed)
Setting 10 to 20000 Unit
range
• This gain adjusts the speed loop response.
• Increase the setting (i.e., increase the gain) to raise Servo rigidity. Generally, the greater the inertia
ratio, the higher the setting. There is a risk of oscillation, however, if the gain is too high.
Servomotor speed
(speed monitor)
Pn101 Speed loop integration constant (Position, speed)
Setting 15 to 51200 Unit
range
• Sets the speed loop integral time constant.
• The higher the setting, the lower the response, and the lower the resiliency to external force. There
is a risk of oscillation if the setting is too low.
Servomotor speed
4-38
Unit ---
× 0.1 Hz
Overshoots when speed loop gain is high.
(Oscillates when gain is too high.)
When speed loop gain is low.
× 0.01 ms
Overshoots when speed loop integration constant is short.
When speed loop integration
constant is long.
Default 4
setting
Default 800
setting
Default 2000
setting
Chapter 4
Restart Yes
power?
Restart No
power?
Time
Restart No
power?
Time