IAI America CON-TG - Manual (Page 49)

39
6.
Operation:
Mode
Flow
Chart
(12) Gain Set (Displayed in Version V1.10 or later)
(Note) Setting is available only on SCON-CA.
6 parameters necessary for Servo Gain Adjustment are gathered to make up 1 set.
4 types of settings are able to be registered and the servo gains can be switched over for each
positioning operation.
[Parameters constructed in 1 set]
• Servo Gain Number (Position Gain)
• Position Feed Forward Gain
• Speed Loop Proportion Gain
• Speed Loop Integration Gain
• Torque Filter Time Constant
• Current Control Band Number
Setting Operation after Positioning Complete Parameter No.
0 Gain Set 0 7, 71, 31 to 33, 54
1 Gain Set 1 120 to 125
2 Gain Set 2 126 to 131
3 Gain Set 3 132 to 137
(13) Vibration Control No. (Displayed in Version V1.10 or later)
(Note) Setting is available only on SCON-CA.
It controls the vibration (resonance) generated by the load due to the mounted actuator.
It possesses a capacity to deal with 3 types of vibration.
There are 3 parameters corresponds to 1 type of vibration and they are compiled in 1 set.
Set the parameter set corresponds to the position number necessary for the vibration control in
the position table.
Setting
Vibration Control Frequency
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Parameter No.
0
Standard Position Control
(No Vibration Control)
-
1 Vibration Control Parameter Set 1 97 to 100
2 Vibration Control Parameter Set 2 101 to 104
3 Vibration Control Parameter Set 3 105 to 108
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(2) The vibration control is applicable only for the vibration generated by the load of
the actuator connected to this controller. Other vibrations cannot be controlled.
(3) The vibration control is applicable only for the vibration in the direction of the
actuator operation. Vibration in other directions cannot be controlled.
(4) The vibration control is not applicable for home-return and pressing operations.
(5) It does not corresponds to Pulse Train Input Mode.
(6) If the vibration frequency setting is low, the takt time may become long. The value
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