Omron TJ2-MC64 - PROGRAMMING Programming Manual page 260

Examples and tips
Example 7
The value of the rigidity is increased from 6 to 8. The overshoot/undershoot
is smaller but the motor has more vibration.
The parameter values for the example are:
/i
Motion Parameter values
P_Gain=131072
VFF_GAIN=1573500
Fn001=8
Example 8
Opposite to the P_GAIN, where the higher, the better (the limit is when the
mechanical system starts vibrating), for the VFF_GAIN there is an optimum
value (the one in test 6), values higher than this value has an error
proportional to the speed/acceleration but with different sign. The required
correction is too large.
The parameter values for the example are:
/i
Motion Parameter values
P_Gain=131072
VFF_GAIN=1650000
Fn001=6
PROGRAMMING MANUAL
fig. 10
fig. 11
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