Types Of Gains - Omron R88D-UA Manual

Gain Adjustment

1-1-3 Types of Gains

The following table describes gains and adjustment parameters that will improve the response charac-
teristics of the Servo System.
Gain and adjustment
parameter
Current loop command
filter
Speed loop proportional
gain
Speed loop integral gain
Position loop
proportional gain
Note 1. The AC gain of the R Series varies the speed loop proportional gain and speed loop integral
gain simultaneously. For details, refer to 1-3 Special Adjustment Parameters.
Note 2. The integral gain of the speed loop of the U Series is adjusted with the speed loop integral time
constant. (Speed loop integral gain ∝ 1/Speed loop integral time constant)
1-4
Function
The current (torque) response speed
will change by adjusting this gain.
Adjust this gain if the Servo System
does not stop causing machine
vibration after other gains are adjusted.
There is no need to adjust this gain in
normal operation.
The response characteristics of the
Servo System in accelerating or
decelerating operation will change by
adjusting this gain.
Adjust this gain to suppress the
overshooting or undershooting of the
Servo System and improve the
response characteristics of the Servo
System.
The response characteristics of the
Servo System in slow operation will
change by adjusting this gain.
Use this gain to adjust the servo-lock
strength of the Servo System.
The positioning time of the Servo
System will change by adjusting this
gain.
Adjust this gain to suppress the
overshooting or undershooting of the
Servo System and minimize the
positioning time.
Parameter name for each series
U: Torque command filter time constant
H: ---
M: Current command filter time
constant
R: High-range filter frequency selection
(Only for models with independent
power supplies)
U: Speed loop gain
H: Speed loop proportional gain
M: Inertia ratio
R: AC gain (See note 1)
U: Speed loop integral time constant
(See note 2)
H: Speed loop integral gain
M: Speed gain
R: AC gain
U: Position loop gain
H: Position loop proportional gain
M: Position gain
R: Loop gain
(Only for models with pulse-train input)
Chapter 1