IAI America ACON-PO User Manual
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5. Parameter Settings
Speed Loop Integral Gain (No. 32 VLPT)
Parameter number
Unit Input range
Default
32
---
1 ~ 217270
Set individually in accordance with the actuator characteristics.
Torque Filter Time Constant (No. 33 TRQF)
t
l
u
a
f
e
D
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g
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r
t
u
p
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t
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U
r
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b
m
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n
r
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t
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m
a
r
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P
33
---
1 ~ 2500
Set individually in accordance with the actuator characteristics.
This parameter determines the filter time constant applicable to the torque command.
If the mechanical resonance frequency is equal to or lower than the servo loop response frequency, the motor will
vibrate.
This mechanical resonance can be suppressed by increasing the setting of this parameter.
It should be noted, however, that increasing the setting too much may affect the stability of the control system.
Current Control Band Number (No. 54 CLPF)
Parameter number
Unit Input range
Default
54
---
0 ~ 4
Set individually in accordance with the actuator characteristics.
This parameter is used to change the current control band.
A value corresponding to the applicable actuator is set at the factory.
Never change this parameter. If the parameter is changed, stability of the control system may be affected and a
very dangerous situation may occur.
This parameter determines the level of response with respect to a speed control loop.
Decreasing the setting results in lower response to the speed command and decreases the reactive
force upon load change. If the setting is too low, compliance with the position command drops and the
positioning time increases as a result.
Increasing the setting too much increases the tendency of the actuator to overshoot or oscillate,
resulting in increased mechanical vibration.
Speed
Setting is low
Setting is high (overshoot)
Time