Speed Loop Gain; Speed Loop Integral Time Constant - Omron SMARTSTEP R7D-AP Series User Manual

Operation
Pn100

Speed loop gain

Settings 1 to 2000
• This gain adjusts the speed loop response.
• Increase the setting (i.e., increase the gain) to increase servo rigidity. Generally, the greater the
inertia ratio, the higher the setting. There is a risk of vibration, however, if the gain is too high.
When the speed loop gain is manipulated, the response will change as shown in the following dia-
gram.
Servomotor speed
Note This parameter is enabled only if the gain adjustment rotary switch is set to 0.
Pn101

Speed loop integral time constant

Settings 15 to 51200 Unit
• Sets the speed loop integral time constant.
• The higher the setting, the lower the response, and the lower the resilience to external force. There
is a risk of vibration if the setting is too low.
When the speed loop integral time constant is manipulated, the response changes as shown in the
following diagram.
Servomotor speed
Note This parameter is enabled only if the gain adjustment rotary switch has been set to 0.
4-18
Unit Hz
Overshoots when speed loop gain is high. (Vibrates 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 80
Default 2000
Chapter 4
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Time
Restart? ---
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