Omron R88D-KN ML2 Sries User Manual page 396

10-4 Manual Tuning
Pn102, Pn107 Speed Loop Integral Time Constant
The speed loop integral time constant also determines the responsiveness of the servo.
 If the speed loop integral time constant is low, vibration or resonance occur.
In such case, increase the speed loop integral time constant.
 If the speed loop integral time constant is high, the response is delayed. The servo rigidity
becomes weak.
In such case, decrease the speed loop integral time constant.
10
Pn104, Pn109 Torque Command Filter Time Constant (Current Loop Input Adjustment)
The torque command filter applies a filter so the current command from the speed loop
becomes smooth. The result is a smooth current flow which suppresses vibration.
The default setting of the filter time constant is 80 (0.8 ms).
Increase the value to reduce vibration. Increasing the value slows the response.
As a guide, aim for about 1/25 of the Speed Loop Integral Time Constant 1 (Pn102).
Also, the torque command filter reduces vibration due to the machine rigidity.
This is related to Speed Loop Gain 1 (Pn101), and if Pn101 is too large, increasing the torque
command filter time constant does not reduce vibration.
If there is machine resonance such as with the ball screw, vibration is reduced by using notch
filters such as Pn201, Pn204, Pn207 and Pn210. Or, enable the adaptive filter.
10-19
Command operation pattern
Speed
(r/min)
Command operation pattern
Speed
(r/min)
OMNUC G5-Series AC Servo Drives Users Manual (Built-in MECHATROLINK-II communications type)
Actual operation
Time t
Time t
Actual operation