IAI America PCON-CF - Manual (Page 164)

146
8. Parameter Settings
z Speed loop integral gain (No.32 VLPT)
Parameter No. Unit Input range Default
32 --- 1 ~ 217270
Set individually in accordance with the
actuator characteristics.
z Torque filter time constant (No.33 TRQF)
Parameter No. Unit Input range Default
33 --- 1 ~ 2500
Set individually in accordance with the
actuator characteristics.
This parameter determines the filter time constant for torque commands.
If the resonance frequency of the machine is smaller than the response frequency of the servo loop, the motor
vibrates.
This mechanical resonance can be suppressed by increasing the value set in this parameter.
However, increasing the parameter value excessively may reduce the stability of control.
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