IAI America ACON-SE - Manual (Page 100)

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5. Parameter Settings
Speed loop integral gain (No. 32 VLPT)
Parameter No. Unit Input range Default
32 1 – 217270 Individual setting in accordance with actuator characteristics
Torque filter time constant (No. 33 TRQF)
Parameter No. Unit Input range Default
33 1 – 2500 Individual setting in accordance with actuator characteristics
This parameter defines the filter time constant to the torque command.
If the resonant frequency of the machine equals to or less than the response frequency of the servo loop, the
motor will generate vibrations.
Increasing the setting in this parameter will be able to suppress the resonance of this machine system.
However, excessively increasing the setting may impair the stability of the control system.
Current control band number (No. 54 CLPF)
Parameter No. Unit Input range Default
54 0 – 7 Individual setting in accordance with actuator characteristics
This parameter sets the control band of the PI current control system.
It need not be changed under normal conditions of use and must not be changed by the customer.
Changing the setting carelessly may impair the stability of the control system. It is very dangerous.
Changing this parameter when a resonant sound is produced allows the resonant sound to be suppressed.
Even in this case, be sure to change it in accordance with IAI’ s instructions.
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