IAI PCON-CB series User Manual

6. Parameter
6.1 Parameter
6-11
ME0342-4B
[5] Servo Gain Number (Parameter No. 7)
No. Name Unit Input range Default initial value setting
7 Servo gain number - 0 to 31 In accordance with actuator
Called position loop gain, position control system proportional gain, etc., this is the parameter
that sets the response of the position control loop. The increased set value improves tracking of
position command. If it is too high, overshoot may occur.
If the setting value is low, tracking performance with respect to the position command becomes
worse, and positioning takes time.
In systems with low mechanical rigidity and systems with low natural frequency, mechanical
resonance occurs when the setting value is increased, and this may cause not only vibration
and noise, but also overload malfunctions.
[6] Velocity Initial Value (Parameter No. 8)
No. Name Unit Input range Default initial value setting
8 Velocity initial value
mm/s
(deg/s)
1 ~ Actuator maximum
speed
Actuator rated speed
The actuator rated speed is set at shipment.
This value will be written automatically in the speed field of the applicable position No. when
target position is written in an unregistered position table.
Enter frequently used values for convenience.
Speed
Time
When the setting
value is low
When the setting value is high (overshoot)
6.1 Parameter
ME0342-4B 6-12
[7] Acc/Dec Initial Value (Parameter No. 9)
No. Name Unit Input range Default initial value setting
9 Acc/Dec initial value G
0.01 ~ Actuator max.
acceleration/deceleration
Actuator rated
acceleration/deceleration
The actuator rated acceleration/deceleration is set at shipment.
This setting value should be automatically written to the acceleration/deceleration in the
applicable position numbers when the target position gets written to the unregistered position
table. This setting also gets reflected to the jog/inching operations with a teaching tool.
Enter frequently used values for convenience.
[8] Positioning Band (In-Position) Initial Value (Parameter No. 10)
No. Name Unit Input range Default initial value setting
10
Positioning band initial
value
mm
(deg)
0.01 ~ 999.99
In accordance with actuator
This value will be written automatically in the positioning width field of the applicable position
No. when target position is written in an unregistered position table. Enter frequently used
values for convenience.
Caution
● For the initial positioning band width, set a value of or higher than the minimum
positioning band width.
● For RCP4 and RCP5 Series actuators, the minimum setting should be the value for the
minimum positioning band width.
The minimum resolution can be calculated with the equation below.
Minimum resolution [mm/pulse] = Actuator lead [mm/r] / Encoder resolution [pulse/r]
(For 800-Pulse Encoder)
Minimum positioning width = Lead length ÷ 800 (Encoder pulse value) × 3
(For 8192-Pulse Encoder)
Minimum positioning width = Lead length ÷ 8192 (Encoder pulse value)
For RCP2/3/4/5 Series, a value 3 times the minimum resolution will be the minimum positioning
width.

IAI PCON-CB series Specifications

General

Brand	IAI
Model	PCON-CB series
Category	Controller
Language	English