IAI America CON-PG - Manual (Page 48)

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5. Operation of CON Controllers
(13) Gain settings (This information is displayed on version 1.20 or later.)
(Note) Gains can be set only on SCON-CA controllers.
Six parameters required for servo gain adjustment have been put together into one set.
Four types of settings can be registered, and you can change the servo gain for each positioning operation.
[Parameters constituting each set]
x Servo gain number (position gain)
x Position feed-forward gain
x Speed loop proportional gain
x Speed loop integral gain
x Torque filter time constant
x Current control band number
Setting Operation after completion of positioning Parameter numbers
0 Gain set 0 7, 71, 31 ~ 33, 54
1 Gain set 1 120 ~ 125
2 Gain set 2 126 ~ 131
3 Gain set 3 132 ~ 137
(14) Vibration damping number (This information is displayed on version 1.20 or later.)
(Note) Vibration damping can be set only on SCON-CA controllers.
Vibration (resonance) of the load installed on the actuator is suppressed.
This function works on three types of vibration.
Three parameters are provided for each type of vibration, and they comprise one set.
In the position table, set a desired parameter set for each position number where vibration damping is
required.
Setting
Vibration damping frequency
(Characteristic frequency)
Parameter numbers
0 Normal position control (no vibration damping) -
1 Vibration damping parameter set 1 97 ~ 100
2 Vibration damping parameter set 2 101 ~ 104
3 Vibration damping parameter set 3 105 ~ 108
(1) Vibration can be suppressed over a frequency range of 0.5 to 30 Hz (target characteristic frequencies).
(2) This function suppresses vibration of the load induced by the actuator connected to this controller. It does
not suppress any other vibration.
(3) This function suppresses vibration in the same direction as the moving direction of the actuator. It does not
suppress vibration in any other direction.
(4) This function does not work during home return and push-motion operation.
(5) This function does not support the pulse-train input mode.
(6) The tact time may increase when a lower vibration frequency is set. If the vibration frequency is approx. 6 Hz
or below, the settling time after positioning becomes at least 150 ms.
Caution