IAI America XSEL-QX - Manual (Page 553)

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Appendix
z Speed loop integral time constant (parameter list 1)
Driver card parameter number Unit Input range Default (reference)
44 - 1 ~ 1000 30
z Current loop control band number
Driver card parameter number Unit Input range Default (reference)
46 - 0 ~ 4 4
This parameter sets the control band for the PI current control system.
It need not be changed in a normal condition.
Changing this parameter setting carelessly may impair the safety of the control system, in which case a
very dangerous situation can occur.
This parameter is useful under certain situations such as when the actuator generates resonance noise, in
which case this parameter can be changed to suppress resonance noise.
Should you require changing this parameter, consult IAI.
z Torque filter time constant (parameter list 1)
Driver card parameter number Unit Input range Default (reference)
45 - 1 ~ 2500 0
This parameter determines the filter time constant for the torque command.
The motor vibrates if the resonance frequency of the machine is equal to or lower than the response
frequency of the servo loop.
This resonance of the mechanical system can be suppressed by increasing the value set in this parameter.
Take note, however, that increasing the parameter value excessively may impair the safety of the control
system.
Speed
Small parameter value (overshoot)
Large parameter
value
Time