Omron R88D-KN series User Manual

9 Servo Parameter Objects
9-8
G5 Series AC Servo Drives With Built-in EtherCAT Communications, Linear Motor Type
*1 The default setting is 180 for a Drive with 200 V and 1 kW or greater, or with 400 V.
• This object determines speed loop responsiveness.
• The setting for the speed loop gain must be increased to increase the position loop gain and improve
the responsiveness of the entire servo system. Setting too high, however, may result in vibration.
• The setting unit for the Speed Loop Gain 1 (3101 hex) is Hz if the Mass Ratio (3004 hex) is set
correctly.
Response when the speed loop gain is changed.
*1 The default setting is 310 for a Drive with 200 V and 1 kW or greater, or with 400 V.
• Set the speed loop integral time constant.
• The smaller the set value, the faster the error approaches “0” when stopping.
Response when the speed loop integral time constant is changed.
3101 hex
Speed Loop Gain 1
Setting range
1 to 32767
Unit
0.1 Hz
Default setting
270
*1
Data attribute
B
Size 2 bytes (INT16) Access RW PDO map Not possible.
3102 hex
Speed Loop Integral Time Constant 1
Setting range
1 to 10000
Unit
0.1 ms
Default setting
210
*1
Data attribute
B
Size 2 bytes (INT16) Access RW PDO map Not possible.
All
Motor speed
Time
Overshooting occurs if the speed loop gain is high.
(Vibration occurs if the gain is too high.)
Speed loop gain is low.
All
Motor speed
Time
Overshooting occurs if the speed loop integral
time constant is small.
Speed loop integral
time constant is large.

Omron R88D-KN series Specifications

General

Brand	Omron
Model	R88D-KN series
Category	Controller
Language	English