Omron R88D-KN01H-ECT-L, Руководство пользователя

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9 Servo Parameter Objects
9 - 8
G5-series Linear Motors/Servo Drives With Built-in EtherCAT Communications
*1 The default setting is 180 for a Drive with 200 V and 1 kW or greater, or for a Drive 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 32,767
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 10,000
Unit
0.1 ms Default
setting
210
*1 Data
attribute
B
Size 2 bytes (INT16) Access RW PDO map Not possible
A l l
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.
A l l
Motor speed
Time
Overshooting occurs if the speed loop
integral time constant is small.
Speed loop integral time
constant is large.