IAI America ACON-CG - Manual (Page 154)

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8. Parameters
z Speed loop integral gain (No. 32 VLPT)
Parameter No. Unit Input range Default
32 --- 1 ~ 217270
Set individually in accordance with the
actuator characteristics.
This parameter determines the level of response with respect to a speed control loop.
Decreasing the setting results in lower response to the speed command and decreases the reactive
force upon load change. If the setting is too low, compliance with the position command drops and the
positioning time increases as a result.
Increasing the setting too much increases the tendency of the actuator to overshoot or oscillate,
resulting in increased mechanical vibration.
z Torque filter time constant (No. 33 TRQF)
Parameter No. Unit Input range Default
33 --- 1 ~ 2500
Set individually in accordance with the
actuator characteristics.
This parameter determines the filter time constant for torque commands.
If the resonance frequency of the machine is smaller than the response frequency of the servo loop, the motor
vibrates.
This mechanical resonance can be suppressed by increasing the value set in this parameter.
However, increasing the parameter value excessively may reduce the stability of control.
z Current control range number (No. 54 CLPF)
Parameter No. Unit Input range Default
54 --- 0 ~ 7
Set individually in accordance with the
actuator characteristics.
This parameter sets the control range for the PI current control system.
This parameter need not be changed in normal conditions, so the customer is advised not to change the default
setting.
If this parameter is changed carelessly, stability of the control system can be negatively affected, in which case a
very dangerous condition may occur.
However, this parameter can be used in certain undesirable situations. For example, if resonance noise
generates, the noise can be suppressed by changing this parameter.
Even if a need arises to change the default setting of this parameter, always consult IAI and change the
parameter according to our instruction.
z Feed-forward gain (No. 71 PLFG)
Parameter No. Unit Input range Default
71 --- 0 ~ 100
Set individually in accordance with the
actuator characteristics.
This parameter sets the amount of feed-forward gain for the position control system.
When a feed-forward gain is set, the servo gain will increase and the response in a position control loop will
improve.
If your product has low mechanical rigidity or its mechanical system has a high load inertia ratio, use this
parameter to improve response.
As a guide, set the feed-forward gain to a range of 10 to 50. Increasing the set gain will decrease the deviation
and thereby improve response.
Take note, however, that setting an excessively large value may cause vibration or noise to generate.
Speed
Setting is low
Setting is high (overshoot)
Time