Omron TJ2-MC64 - PROGRAMMING Programming Manual page 257

Examples and tips
Example 1
Only proportional gain has a set value, the Following Error is proportional to
the speed.
The parameter values for the example are:
/i
Motion Parameter values
P_Gain=131072
VFF_GAIN=0
Fn001=4
Note
The colours and scale of the oscilloscope for speed mode are as
follows:
Red: MSPEED (Measured Axis speed). Units is 50 units/ms/divi-
sion
Blue: FE (Following Error). Units is depending on the graph
Green: MPOS (Measured Axis position). 50000 units/division
Example 2
The value for rigidity is increased. The error magnitude remains the same
but the ripple, the speed stability and overshoot are better.
The parameter values for the example are:
/i
Motion Parameter values
P_Gain=131072
VFF_GAIN=0
Fn001=6
PROGRAMMING MANUAL
fig. 4
fig. 5
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