Omron R88M-K - Page 412

9 Details on Servo Parameter Objects
9-8
G5-series AC Servomotors and Servo Drives User’s Manual (with Built-in EtherCAT Communications)
*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 3101 hex is Hz if the Inertia Ratio (3004 hex) is set correctly.
When the speed loop gain is changed, the response is as shown in the following diagram.
*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.
When the speed loop integral time constant is changed, the response is as shown in the following
diagram.
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
M
otor speed
Time
O
vershooting occurs i
f
the speed loop gain is high.
(Vibration occurs if the gain is too high.)
Speed loop gain is low.
All
M
otor speed
Time
O
vershooting occurs i
f
the speed loop integral
time constant is small.
Speed loop integral
time constant is large.