IAI America PCON-PO User Manual
Page 86
74
5. Parameter Settings
Speed Loop Integral Gain (No.32 VLPT)
t
l
u
a
f
e
D
e
g
n
a
r
t
u
p
n
I
t
i
n
U
r
e
b
m
u
n
r
e
t
e
m
a
r
a
P
32
---
1 to 217270
Set individually in accordance with the actuator characteristics.
Torque Filter Time Constant (No.33 TROF)
Parameter
number Unit Input
range
Default
33
---
1 to 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.
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