Omron OMNUC G Series User Manual page 404

7-4 Manual Tuning
Pn011, Pn019 Speed Loop Gain
The Speed Loop Gain determines the responsiveness of the Servo Drive.
If the Inertia Ratio (Pn020) is set correctly, this setting will be used as the response frequency.
Increasing the Speed Loop Gain will improve the response and speed up the positioning process,
but will also increase the likelihood of vibration. Increase the Speed Loop Gain, but not so much that
it causes vibrations.
Since the Speed Loop Gain is related to the Speed Loop Integration Time Constant (Pn012),
increasing the Integration Time Constant can also increase the Speed Loop Gain.
 Low Speed Loop Gain causes a slower response and large overshooting.
 Increase the Speed Loop Gain.
7
 High Speed Loop Gain increases the likelihood of vibration. Vibration and resonance may not
disappear in some cases.
7-19
Commanded operation pattern
Speed
(r/min)
 Decrease the Speed Loop Gain.
Commanded operation pattern
Speed
(r/min)
Actual Servomotor speed
time
Actual Servomotor speed
time