IAI PCON-C - Common Operational Problems

141
 Speed loop integral gain (No.32 VLPT)
Parameter No. Unit Input range Default
32 --- 1 ~ 217270
Set individually in accordance with the
actuator characteristics.
This parameter determines the response when a speed control loop is used.
Increasing the set value lowers the response with respect to the speed command, while also decreasing
the reactive force that generates upon load change.
Decreasing the parameter value excessively makes the actuator more vulnerable to overshooting or
shaking, leading to mechanical vibration.
If the set value is small, the tracking performance with respect to the position command drops and
positioning takes a longer time.
 Torque filter time constant (No.33 TRQF)
Parameter No. Unit Input range Default
33 --- 1 ~ 2500
Set individually in accordance with the
actuator characteristics.
This parameter determines the filter time constant for torque commands.
If the resonance frequency of the machine is smaller than the response frequency of the servo loop, the
motor vibrates.
This mechanical resonance can be suppressed by increasing the value set in this parameter.
However, increasing the parameter value excessively may reduce the stability of control.
Speed
Set value is large
Set value is small. (overshooting).
Time