IAI America RCL-SM6L - Manual (Page 47)

4. Operational Conditions
41
4.2.3 Gain Adjustment for Long Stroke Type (Servo Parameters)
The initial setting parameter of the controller is set to be optimized when the load is small.
For Long Stroke Types (SA4L, SA5L, SA6L, SM4L, SM5L and SM6L), it is necessary to change the
gain setting in the parameters in case the load is big.
Referring to the table below, have the parameter settings adjusted considering the mounted load
weight.
Servo Parameters by Load Level (Mounted Load Weight) (Recommended)
Mounted load Parameter
Type
Level kg
Speed loop
proportional gain
Speed loop
integral gain
Small 0 to 0.25 453 2,516 SA4L
SM4L Big 0.26 to 0.8 824 4,578
Small 0 to 0.5 860 4,779 SA5L
SM5L Big 0.6 to 1.6 1,571 8,728
Small 0 to 1.0 1,511 8,397 SA6L
SM6L Big 1.1 to 3.2 2,761 15,337
Refer to the instruction manual of the controller for how to set and change the parameters.