IAI America MSCON - Manual (Page 284)

Chapter 7 Parameter
276
[74] Torque filter time constant 2 (Parameter No.130)
This parameter decides the filter time constant for the torque command.
[Refer to description of Parameter No.33.]
[75] Current control width number 2 (Parameter No.131)
This parameter defines the control width of the current control system.
[Refer to description of Parameter No.54.]
[76] Servo gain number 3 (Parameter No.132)
This parameter determines the response of the position control loop.
[Refer to description of Parameter No.7.]
[77] Feed forward gain 3 (Parameter No.133)
This parameter defines the feed forward gain of the position control system.
[Refer to description of Parameter No.71.]
[78] Velocity loop proportional gain 3 (Parameter No.134)
This parameter determines the response of the speed control loop.
[Refer to description of Parameter No.31.]
[79] Velocity loop integral gain 3 (Parameter No.135)
This parameter determines the response of the speed control loop.
[Refer to description of Parameter No.32.]
[80] Torque filter time constant 3 (Parameter No.136)
This parameter decides the filter time constant for the torque command.
[Refer to description of Parameter No.33.]
[81] Current control width number 3 (Parameter No.137)
This parameter defines the control width of the current control system.
[Refer to description of Parameter No.54.]
[82] Servo gain switchover time constant (Parameter No.138)
No. Name Symbol Unit Input Range
Default factory
setting
138 Servo Gain Switchover Time
Constant
GCFT ms 10 to 2000 10
When a switchover of the servo gain set is commanded in the position table, the switchover
process is completed after time more than 3 times of the time spent in the setting of this
parameter is passed since the operation of the commanded position number has started.
Caution: A time constant being rather short may cause the servo gain to change
rapidly to have the operation of the actuator unstable.