IAI America SCON-CA - Manual (Page 238)

Chapter 8 I/O Parameter
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[103] Feed forward gain 3 (Parameter No.133)
This parameter defines the feed forward gain of the position control system.
[Refer to description of Parameter No.71.]
[104] Velocity Loop Proportional Gain 3 (Parameter No.134)
This parameter determines the response of the speed control loop.
[Refer to description of Parameter No.31.]
[105] Velocity Loop Integral Gain 3 (Parameter No.135)
This parameter determines the response of the speed control loop.
[Refer to description of Parameter No.32.]
[106] Torque Filter Time Constant 3 (Parameter No.136)
This parameter decides the filter time constant for the torque command.
[Refer to description of Parameter No.33.]
[107] Current control width number 3 (Parameter No.137)
This parameter defines the control width of the current control system.
[Refer to description of Parameter No.54.]
[108] Servo gain switchover time constant (Parameter No.138)
No. Name Symbol Unit Input Range
Default factory
setting
138 Servo gain switchover time
constant
GCFT ms 10 to 2000 10
When a switchover of the servo gain set is commanded in the position table, the switchover
process is completed after time more than 3 times of the time spent in the setting of this
parameter is passed since the operation of the commanded position number has started.
Caution: A time constant being rather short may cause the servo gain to change rapidly
to have the operation of the actuator unstable.