IAI America ERC3 - Manual (Page 345)

Chapter 6
Adjustment of Operation
6.3 I/O Parameter 6.3.1 Positioner Mode 1, Positioner Mode 2 and Pulse
Train Control Mode
335
[3] Servo Adjustment
The parameters are preset at the factory before shipment so that the actuator operates stably
within the rated (maximum) transportable weight.
However, the preset setting cannot always be the optimum load condition in the actual use. In
such cases, servo adjustment may be required.
This section describes the basic servo adjustment method.
ᴾ
No.
Situation that requires
adjustment
How to Adjust
Takes time to finish
positioning
Positioning accuracy is
not appropriate
1
Shorter takt time is
desired
Ɣ Set Parameter No.55 “Position command primary filter time
constant” to “0” if it is set.
Ɣ Increase the value of Parameter No.7 “Servo gain number”. By
setting a larger value, the follow-up ability to the position
command becomes better. Set the value to any of 3 to 10
roughly or up to 15 at the maximum. If the value is too large, an
overshoot is caused easily and may cause noise or vibration.
For the velocity loop proportional gain parameter, the parameter
number differs depending on the setting of enable/disable of
Gain Scheduling and the high output setting.
Shown below is the table of velocity loop proportional gain
parameter numbers that are enable.
High Output Setting (Parameter No.152)
1 (Enable) 0 (Disable)
101 to
(Enable)
Parameter No.145 Parameter No.145
Gain Scheduling
(Parameter No.144) to 101
(Disable)
Parameter No.153 Parameter No.31
2 Vibration is generated at
acceleration/deceleration
Ɣ The cause of the problem is excessive
“acceleration/deceleration setting” or vulnerable structure of the
unit on which the actuator is installed. If possible, reinforce the
unit itself, first.
Ɣ Decrease the values of “acceleration/deceleration setting”.
Ɣ Decrease the number of Parameter No.7 “Servo gain number”.
If the Parameter No.7 “Servo gain number” is too low, it takes
long time to finish the positioning.
Caution: Rapid and excessive settings are dangerous. They may devices including the
actuator to be damaged and/or people to be injured. Take sufficient note on
the setting.
Record settings during servo adjustment so that prior settings can always be
recovered.
When a problem arises and the solution cannot be found, please contact IAI.