IAI America MSCON - Manual (Page 270)

Chapter 7 Parameter
262
[21] 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
facilitates producing the vibrations of the mechanical system.
When the set value is low
When the set value is high (over-shoot)
Velocity
Time
[22] 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 frictions. This parameter is intended to cope with deviation generated
by external causes including frictions. 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 cause the machine system to be
vibrated due to overshoot or shaking.
Tune it to obtain the optimum setting by watching the velocity response.
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When the set value is low
When the set value is high (over-shoot)
Velocity
Time
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