IAI America PCON-CY - Manual (Page 104)

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6. Parameter Settings
6.2.4 Servo Gain Adjustment
Since the servo has been adjusted at the factory in accordance with the standard specification of the actuator, the servo gain
need not be changed in normal conditions of use.
However, vibration or noise may occur depending on how the actuator is affixed, specific load condition, and so on, and
therefore the parameters relating to servo adjustment are disclosed to allow the customer to take quick actions should
adjustment become necessary.
Particularly with custom models (whose ball screw lead or stroke is longer than the that of the standard model), vibration/noise
may occur due to external conditions.
In this case, the parameters shown below must be changed. Contact IAI for details.
z Servo Gain Number (No.7 PLG0)
Parameter number Unit Input range Default
7 5 rad/sec 0 ~ 31 6
This parameter determines the level of response with respect to a position control loop.
Increasing the setting improves compliance with the position command.
However, increasing the setting too much increases the tendency of the actuator to overshoot.
If the setting is low, compliance with the position command drops and the positioning time increases as a result.
z Speed Loop Proportional Gain (No.31 VLPG)
Parameter number Unit Input range Default
31 --- 1 ~ 27661 Set individually in accordance with the actuator characteristics.
This parameter determines the level of response with respect to a speed control loop.
Increasing the setting improves compliance with the speed command (i.e., servo rigidity increases).
The greater the load inertia, the higher the setting should be.
However, increasing the setting too much increases the tendency of the actuator to overshoot or oscillate, resulting in
increased mechanical vibration.
Speed
Setting is high (overshoot)
Setting is low
Time
Speed
Setting is high (overshoot)
Setting is low
Time