IAI America ACON-PO - Manual (Page 82)

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5. Parameter Settings
z Feed-forward Gain (No. 71 PLFG)
Parameter number Unit Input range Default
71 --- 0 ~ 100 Set individually in accordance with the actuator characteristics.
Set the amount of feed-forward gain of the position control system.
Setting this parameter increases the servo gain and improves the response of operation that uses a position control
loop.
Use this parameter to improve the response of a mechanical system whose rigidity is low or load inertia ratio is
high.
As a rough guide, set a value between “10” and “80.” Increasing the value set in this parameter reduces the
deviation and improves the response.
Take note, however, that setting an excessively large value may generate vibration or noise.