IAI America PDR-101-MW - Manual (Page 72)

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(29) Speed Loop Integration Time Constant
Name Symbol Unit Input range
Default value
(reference)
Speed loop integration
time constant
VLPT msec 0~1000 [A]
Set the integration time constant of the control loop.
An appropriate value corresponding to the applicable actuator has been set at shipment from the factory.
This parameter determines the response of the speed control loop. Set a larger value to make the
response to speed commands slower. Note, however, that the robustness of the control loop against load
fluctuations becomes weaker if the setting value is too large. Over-shoot and oscillation tend to occur if the
setting value is made too small, causing vibrations to be generated in the mechanical parts of the system.
(30) Torque Filter Time Constant
Name Symbol Unit Input range
Default value
(reference)
Torque filter time
constant
TRQF msec 0.00~327.67 [A]
Set the time constant for the torque command filter.
An appropriate value corresponding to the applicable actuator has been set at shipment from the factory.
The motor may begin to vibrate if the resonance frequency of the machine is less than the response
frequency of the servo loop. The resonance between the mechanical parts of the system can be
suppressed by setting this parameter to a large value. If it is made too large, however, the stability of the
control system may be lost.
Speed
If the setting value is low (over-shoot)
If the setting value is high
Time