IAI America PCON-CA - Manual (Page 185)

Chapter 7 I/O Parameter
POWER CON
PCON-CA/CFA
177
[24] Velocity loop proportional gain (Parameter No.31)
No. Name Symbol Unit Input Range
Default factory
setting
31 Velocity loop proportional gain VLPG – 1 to 27661
In accordance
with actuator
This parameter determines the response of the speed control loop. When the set value is
increased, the follow-up ability to the velocity command becomes better (the servo-motor
rigidity is enhanced). The higher the load inertia becomes, the larger the value should be set.
However, excessively increasing the setting will cause overshooting or oscillation, which may
induce vibrations in the mechanical system.
[Reference Item] 7.2 [88] Selecting the Use of velocity loop proportional gain and velocity loop
integrated gain.
When the set value is high (over-shoot)
When the set value is low
Velocity
Time
[25] Velocity loop integral gain (Parameter No.32)
No. Name Symbol Unit Input Range
Default factory
setting
32 Velocity loop integral gain VLPT – 1 to 217270
In accordance
with actuator
Any machine produces friction. This parameter is intended to cope with deviation generated by
external causes including friction. Increasing the setting value improves the reactive force
against load change. That is, the servo rigidity increases. However, increasing the parameter
value excessively may make the gain too high, which then causes the machine system to be
vibrated due to overshoot or shaking.
Tune it to obtain the optimum setting by watching the velocity response.
[Reference Item] 7.2 [88] Selecting the Use of velocity loop proportional gain and velocity loop
integrated gain.
ᴾ
When the set value is high (over-shoot)
When the set value is low
Velocity
Time