IAI America PDR-101-MW - Manual (Page 74)

64
Electronic
gear
CNUM
CDEN
6.4 Servo Adjustment
When P-Driver is shipped from the factory, the parameters are set in such a way that the closed-loop
operation characteristics at the rated load capacity (maximum load capacity) of the actuator become stable.
At the actual operation sites, however, the ideal load conditions (i.e. no resonance, vibration induction or
excessive load fluctuation) may not always be guaranteed.
For this reason, it may be necessary to adjust the servo loop depending on the operating conditions.
This section explains the basic adjustment method.
6.4.1 Control Block Diagram
[Control Block Diagram and Parameters (Symbols) of P-Driver]
Speed PI
control device
VLPG
VLPT
Position-command
primary filter
PLPF
Feed-forward
PLFG
Position
proportional
gain
PLPG
Torque
filter
TRQF
Current control
system
CLPF
M
PG
Command
pulse input
Speed
command
Speed
command
Speed detection
Position detection