IAI America PDR-101-MW - Manual (Page 63)

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(18) Position Command Primary Filter Time Constant
Name Symbol Unit Input range
Default value
(reference)
Position command
primary filter time
constant
PLPF msec 0.0~100.0 0.0
With the setting of this parameter, the actuator can be made to accelerate/decelerate according to an
S-shaped curve.
If a command pulse-train input is given with a constant frequency, the actuator accelerates/decelerates
gradually according to the set time constant.
The actuator moves only the distance corresponding to the command pulse-train signal.
It is possible to perform smooth acceleration/deceleration even when the host controller does not have any
acceleration/deceleration function, or when the frequency of the command pulse-train changes sharply.
(19) Position Feed-Forward Gain
Name Symbol Unit Input range
Default value
(reference)
Position feed-forward
gain
PLFG - 0~100 0
Set the amount of feed-forward gain of the position control system.
When this parameter is set, the servo gain increases and the response speed of the position control loop is
improved.
There is no significant effect if (17), “Position Control Loop Proportional Gain,” is set to a sufficiently large
value.
Use this parameter to improve the response of systems whose mechanical rigidity is low or systems where
the load inertial ratio of the mechanical part is large.
Use values between 10 and 50 as a guideline; if a larger value is set, the amount of deviation becomes
smaller and the response speed improves.
If the value is set too high, vibration and noise may be generated. Make sure to check the response while
adjusting the value if you use this parameter.
Pulse train
Speed