Omron TJ2-MC64 - PROGRAMMING Programming Manual page 259

Examples and tips
Example 5
The value of the parameter P_GAIN is set to the value in example 1. The
value of VFF_GAIN is increased. The Following Error is reduced without a
reduction to the stability. The Following Error is not proportional to the
speed.
The parameter values for the example are:
/i
Motion Parameter values
P_Gain=131072
VFF_GAIN=1400000
Fn001=6
Example 6
With this value of VFF_GAIN the Following Error is proportional to the
acceleration, and smaller than with just proportional gain (the scaling is 20
units/division). The Following Error approaches zero during constant speed.
The negative effect of this set of values is the overshoot and undershoot
when the acceleration changes; this can be reduced but not eliminated by
increasing the speed loop gain, if the mechanical system can cope with a
high gain.
The parameter values for the example are:
/i
Motion Parameter values
P_Gain=131072
VFF_GAIN=1573500
Fn001=6
PROGRAMMING MANUAL
fig. 8
fig. 9
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