IAI America ACON-CY User Manual
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6. Parameter Settings
Speed Loop Integral Gain (No. 32 VLPT)
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32
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1 ~ 217270
Set individually in accordance with the actuator
characteristics.
Torque Filter Time Constant (No. 33 TRQF)
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33
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1 ~ 2500
Set individually in accordance with the actuator
characteristics.
This parameter determines the filter time constant applicable to the torque command.
If the mechanical resonance frequency is equal to or lower than the servo loop response frequency, the motor
will vibrate.
This mechanical resonance can be suppressed by increasing the setting of this parameter.
It should be noted, however, that increasing the setting too much may affect the stability of the control system.
Current Control Band Number (No. 54 CLPF)
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54
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0 ~ 7
Set individually in accordance with the actuator
characteristics.
Set the control band of the PI current control system.
This parameter need not be changed in normal conditions of use. The customer is advised not to change the
setting.
If the parameter is changed carelessly, stability of the control system may be affected and a very dangerous
situation may occur.
This parameter may be useful in certain situations such as when resonance noise generates, in which case
changing the parameter can suppress the noise.
If you wish to change the parameter, always contact IAI first and follow the instruction.
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.
Speed
Setting is low
Setting is high (overshoot)
Time