IAI America XSEL-QX - Manual (Page 552)

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Appendix
Servo Gain Adjustment for Linear Movement Axis
Caution: Do not adjust the servo gains of SCARA axes.
The servo has been adjusted at the factory according to the standard actuator specification, so the servo
gains need not be changed in a normal condition.
However, vibration or abnormal noise may occur depending on how the actuator is affixed, load conditions,
etc. Accordingly, the servo adjustment parameters are disclosed so that the user can take prompt actions
upon encountering such conditions.
In particular, vibration or abnormal noise is more likely to occur on custom specifications (longer ball screw
lead or stroke compared to the standard specification, etc.) due to external conditions.
In this case, the following parameters must be changed. Contact IAI.
z Position gain
Axis-specific parameter number Unit Input range Default (reference)
60 /sec 0 ~ 9999 30
This parameter determines the response of the position control loop.
Increasing the value set in this parameter improves the conformance with the position command.
Take note, however, that increasing the parameter value excessively increases the tendency of the
actuator to overshoot.
If the parameter value is small, the conformance with the position decreases and the positioning time
becomes longer.
z Speed loop gain (parameter list 1)
Driver card parameter number Unit Input range Default (reference)
43 - 1 ~32767 500
This parameter determines the response of the speed control loop.
Increasing the value set in this parameter improves the conformance with the speed command (=
increases the servo rigidity).
Increase the parameter value if the load inertia is high.
Take note, however, that increasing the parameter value excessively increases the tendency of the
actuator to overshoot or oscillate, resulting in mechanical vibration.
Speed
Speed
Large parameter value (overshoot)
Large parameter value (overshoot)
Small parameter
value
Small parameter
value
Time
Time