Omron OMNUC FND Series User Manual page 186

Operation
Response When Speed Loop Integral Gain is Adjusted
Motor speed
PRM No. Parameter name
AJ4. Position loop gain
Adjust the position loop response to match the mechanical rigidity.
The servo system's responsiveness is determined by the position loop gain. When the position loop
gain is high, the servo system's responsiveness will be high and positioning can be executed quickly.
In order to increase the position loop gain, it is necessary to raise the mechanical rigidity and increase
the characteristic frequency. For normal construction machinery, set the gain to 50 to 70 (rad/s); for
general purpose machinery and assembly machinery, 30 to 50 (rad/s); for industrial robots, 10 to 30
(rad/s).
If the system has low mechanical rigidity or low characteristic frequency, increasing the position loop
gain will cause mechanical resonance and will generate an overload alarm.
If the position loop gain is low, the positioning time can be shortened by using feed forward.
Response When Position Loop Gain is Adjusted
Motor speed
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When speed loop integral gain is high
When speed loop integral gain is low
Time
Setting range
1 to 200
When position loop gain is high
When position loop gain is low
Chapter 3
Unit Factory setting
rad/s 30
Time
3-73