IAI America ERC3 - Manual (Page 347)

Chapter 6
Adjustment of Operation
6.3 I/O Parameter 6.3.1 Positioner Mode 1, Positioner Mode 2 and Pulse
Train Control Mode
337
No.
Situation that requires
adjustment
How to Adjust
Large static friction of
load makes actuator start
slowly.
Large load inertia makes
response of actuator low
at start and stop.
5
Takt time is desired to be
shortened.
Ɣ Set Parameter No.71 “Feed forward gain”.
Select a value in the range from 10 to 50 roughly. The larger the
setting value is, the smaller the deviation is. Then the response
is improved.
Setting a large value may cause vibrations and/or noises to
occur.
Set the feed forward gain in order to improve the response of
the actuator further after adjusting Parameter No.7 “Servo gain
number” and Parameter No.31 “Velocity loop proportional gain”.