IAI America SSEL - Manual (Page 421)

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Appendix
4. Servo Gain Adjustment
Since the servo has been adjusted at the factory in accordance with the standard specification of the actuator,
the servo gain need not be changed in normal conditions of use.
However, vibration or noise may occur depending on how the actuator is affixed, specific load condition, and so
on, and therefore the parameters related to servo adjustment are disclosed to allow the customer to take quick
actions should adjustment become necessary.
Particularly with custom models (whose ball screw lead or stroke is longer than that of the standard model),
vibration/noise may occur due to external conditions.
In this case, the parameters shown below must be changed. Contact IAI for details.
z Position gain
Axis-specific parameter number Unit Input range Default value (reference)
60 /sec 1 ~ 9999 30
This parameter determines the level of response with respect to a position control loop.
Increasing the value set in this parameter improves compliance with the position command.
However, increasing the setting too much increases the tendency of the actuator to overshoot.
If the setting value is low, compliance with the position command drops and the positioning time increases as
a result.
z Speed loop proportional gain
Driver parameter number Unit Input range Default value (reference)
43 - 1 ~ 32767 500
This parameter determines the level of response with respect to a speed control loop.
Increasing the value set in this parameter improves compliance with the speed command (i.e., servo rigidity
increases).
The greater the load inertia, the higher the setting value should be.
However, increasing the setting value too much increases the tendency of the actuator to overshoot or
oscillate, resulting in increased mechanical vibration.
Speed
Setting value is high (overshoot)
Setting value is low
Time
Speed
Setting value is high (overshoot)
Setting value is low
Time