IAI America ERC3 - Manual (Page 341)

Chapter 6
Adjustment of Operation
6.3 I/O Parameter 6.3.1 Positioner Mode 1, Positioner Mode 2 and Pulse
Train Control Mode
331
(63) Gain scheduling upper limit multiplying ratio (Parameter No.144)
No. Name Symbol Unit Input Range Default factory setting
144 Gain scheduling upper limit
multiplying ratio
GSUL % 0 to 1023 0 (Disabled)
Gain scheduling is the function to change the gain in accordance with the operation speed.
This parameter shows the multiplying rate of the upper limit of the changeable gain.
With the set multiplying rate, the values for GS Velocity Loop Proportional Gain (Parameter
No.145) and GS Velocity Loop Integrated Gain (Parameter No.146) are changed.
Set Value Description
100 or less Gain scheduling disabled
101 to 1023 Gain scheduling enabled
Set to 300 if enable
(64) GS velocity loop proportional gain (Parameter No.145)
No. Name Symbol Unit Input Range Default factory setting
145 GS velocity loop proportional
gain
GSPC – 1 to 30000 750
If the gain scheduling upper limit multiplying ratio (Parameter No.144) is set enabled, this
parameter setting becomes enable for the velocity loop proportional gain.
It is not necessary to change the setting in normal use.
(65) GS velocity loop integral gain (Parameter No.146)
No. Name Symbol Unit Input Range Default factory setting
146 GS velocity loop integral gain GSIC – 1 to 500000 4500
If the gain scheduling upper limit multiplying ratio (Parameter No.144) is set enabled, this
parameter setting becomes enable for the velocity loop integral gain.
It is not necessary to change the setting in normal use.
(66) Total movement count threshold (Parameter No.147)
No. Name Symbol Unit Input Range Default factory setting
147 Total movement count
threshold
TMCT Times 0 to 999999999 0 (Disabled)
Notice will be made with Movement Counter Threshold Exceeding Alarm (04E) if the total
number of movement exceeds the value set in this parameter.
The judgment would not be made if the value is set to 0.