IAI America PSEL - Manual (Page 409)

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Appendix
 Speed loop integral gain
Driver parameter number Unit Input range Default value (reference)
44 --- 1 ~ 3276700 4601
This parameter determines the level of response with respect to a speed control loop.
Decreasing the setting results in lower response with the speed command and decreases the reactive
force upon load change. If the setting is low, compliance with the position command drops and the
positioning time increases as a result.
Decreasing the setting too much increases the tendency of the actuator to overshoot or oscillate,
resulting in increased mechanical vibration.
 Torque filter time constant
Driver parameter number Unit Input range Default value (reference)
45 --- 1 ~ 2500 0
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.
 Current control band number
Driver parameter number Unit Input range Default value (reference)
46 --- 0 ~ 4 4
This parameter is used to change the current control band of a PI current control system.
The setting should not be changed in normal conditions of use.
Changing the parameter carelessly may affect the stability of the control system and a very dangerous
situation may occur.
Changing this parameter may be useful in some situations such as when resonance noise generates,
in which case a parameter change can help suppress the noise.
If you wish to change this parameter, please contact IAI.
Speed
Setting is high (overshoot)
Setting is low
Time