Part specification – IAI America REXT User Manual
Page 240
Part 1 Specification
Chapter 4 Controller Unit
Part Specification
Speed Loop Proportional Gain (No. , VLPG)
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Set individually in accordance with the actuator characteristics.
This parameter determines the level of response with respect to a speed control loop.
Increasing the setting value 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 Loop Integral Gain (No. , VLPT)
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Set individually in accordance with the actuator characteristics.
This parameter determines the level of response with respect to a speed control loop.
Decreasing the setting results in lower response to the speed command and decreases the reactive force upon load
change. If the setting is too low, compliance with the position command drops and the positioning time increases as
a result.
Increasing the setting 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
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