IAI America ERC3 - Manual (Page 311)

Chapter 6
Adjustment of Operation
6.2 High Output Setting and Gain Scheduling Function
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6.2 High Output Setting and Gain Scheduling Function
6.2.1 High Output Setting
High output setting is a function to increase the speed, acceleration/deceleration and
transportable weight. (It is set effective at delivery.) [Refer to 1.2.1 Actuator.]
Setting of enable and disable switches over between the parameters of “Velocity Loop
Proportional Gain” and “Velocity Loop Integrated Gain”.
6.2.2 Gain Scheduling Function
Stepper motor possesses the characteristics that the output decreases if speed increases.
Therefore, to maintain the sufficient control performance in high speed operation range, the
settings of “Velocity Loop Proportional Gain” and “Velocity Loop Integrated Gain” are raised to
set (to highly respond to speed change).
This may become a cause of magnetic noise or small vibration in low speed operation range in
some cases.
Gain Scheduling Function is a system to change the gain in response to the speed to realize an
operation with the optimized control condition.
This function cannot be used in MEC Mode.
6.2.3 Setting in Positioner Mode 1 & 2 and Pulse Train Control Mode
The setting of enable/disable for the high output setting and Gain Scheduling Function can be
performed in parameters.
High output setting = Parameter No.152
Gain scheduling = Parameter No.144
At the delivery, the high output setting is set enable while Gain Scheduling Function disable.
With the setting of enable/disable for each setting, the parameters for each function are
switched over between “Velocity Loop Proportional Gain” and “Velocity Loop Integrated Gain” to
perform controls.
Shown in the table below is the parameter numbers of “Velocity Loop Proportional Gain” and
“Velocity Loop Integrated Gain” to be enable by the setting conditions.
High output setting (Parameter No.152)
1 (Enable = in Delivery) 0 (Disable)
101 to
(Enable)
Parameter No.145, 146
Gain scheduling
(Parameter No.144)
to 100
(Disable =
in Delivery)
Parameter No.153, 154 Parameter No.31, 32
No.31, 145, 153 = Speed Loop Proportional Gain
No.32, 146, 154 = Speed Loop Integral Gain
Caution: Smart Tuning is a function that is valid when the high output setting is
enable and Gain Scheduling is disable. Note that this function cannot be
used in other settings. [Refer to the instruction manual of the PC software
provided separately for how to handle Smart Tuning.]
If the gain scheduling function is activated, an operation with the velocity
and acceleration/deceleration set in Smart Tuning Function cannot be
secured.
The velocity and acceleration/deceleration set in Smart Tuning Function are
to be the values selected from the specifications when the gain operation is
made with No.153 and 154.
When the gain scheduling function is activated, the gain operation is made
with No. 145 and 146, and the actuator specifications may differ from the
operation with No.153 and 154.