IAI America SCON-CA - Manual (Page 98)

Chapter 3 Operation
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12) Incremental···············Set to 1 for pitch feed (relative movement = incremental feed).
The value set for the position in 1) indicates the pitch feed distance.
With the value set to 0, positioning is defined to the position in 1)
based on the absolute coordinate system.
� �
Caution: In the pitch feed, do not perform a command with a pitch smaller than the
minimum encoder resolution (lead/encoder pulse number) or that less than
positioning accuracy repeatability.
There would be no deviation to occur even with the command because it is an
operation command to the same position as the positioning complete
condition, but the positioning control cannot be performed properly.
When solenoid valve mode 2 is selected, set this to 0. Setting this to 1 causes
the position data error to occur.
13) Gain set····················Six parameters required for servo gain adjustment are collected to be
a single set. Up to four sets can be registered to change the servo
gain in positioning.
By utilizing Off Board Tuning Function (Note) in the PC software, the
setting close to the optimum can be obtained.
(Note) Refer to Section 10 Appendix Connectable Actuators for the
applicable models.
It may require the setting of the gain set dedicated for the
home-return operation in the case this function is used to
have the high-speed setting or the setting to apply a
transported weight more than the ratings.
For how to set up and the caution items, refer to the
instruction manual for RC PC Software.
[Parameters included in a set:]
� Servo gain number (Position Gain)
� Position feed forward gain
� Speed Loop Proportional Gain
� Speed Loop Integral Gain
� Torque Filter Time Constant
� Current control band number
It is able to establish the gain set that corresponds to the position
number to be operated to the indicated gain set.
[Refer to “Servo Adjustment” in Section 8.3 for each gain parameter details.]
Setting Selected parameter set Parameter No.
0 Gain set 0 7, 71, 31 to 33, 54
1 Gain set 1 120 to 125
2 Gain set 2 126 to 131
3 Gain set 3 132 to 137