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8-10
8-2 Gain Parameters
OMNUC G5-SERIES AC SERVOMOTOR AND SERVO DRIVE USER'S MANUAL
8
Parameters Details
Determine 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 Pn101 will be Hz if the Inertia Ratio (Pn004) is set correctly.
When the speed loop gain is changed, the response is as shown in the following diagram.
Set the speed loop integration time constant.
The smaller the set value, the faster the error will come close to 0 when stopping. Set to 9,999 to
maintain integration. Set to 10,000 to invalidate the effect of integration.
When the speed loop integral time constant is changed, the response is as shown in the
following diagram.
Set the time constant for the low pass filter (LPF) after speed detection to one of 6 levels (0 to 5).
Increasing the set value increases the time constant and decreases the noise generated by the
motor. Responsiveness, however, also decreases.
Normally, use the default set value.
Pn101
Speed Loop Gain
Setting
range
1 to 32,767
Unit
0.1 Hz
Default
setting
50
Power OFF
and ON
−
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.
Pn102
Speed Loop Integral Time Constant
Setting
range
1 to 10,000
Unit
0.1 ms
Default
setting
20
Power OFF
and ON
−
All
Motor speed
Time
Overshooting occurs if the speed loop integral
time constant is small.
Speed loop integral
time constant is large.
Pn103
Speed Feedback Filter Time Constant
Setting
range
0 to 5
Unit
−
Default
setting
0
Power OFF
and ON
−
All