IAI PCON-CB series User Manual

6. Parameter
6.1 Parameter
6-21
ME0342-4B
[24] Velocity Loop Proportional Gain (Parameter No. 31)
No. Name Unit Input range Default initial value setting
31
Velocity loop proportional
gain
- 1 to 99,999,999
In accordance with actuator
This parameter determines the response of the velocity loop. The increased set value improves
tracking of speed command. The higher the setting value, the greater the load inertia becomes.
If it is too high, overshoot and oscillation, as well as vibration in the mechanical system may
occur.
For the conditions for using this item, refer to [Refer: Selection and use of Velocity Loop
Proportional Gain and Velocity Loop Integral Gain [25]] at the bottom of the following page.
When the setting value is high (overshoot)
When the setting
value is low
Time
Speed
6.1 Parameter
ME0342-4B 6-22
[25] Velocity Loop Integral Gain (Parameter No. 32)
No. Name Unit Input range Default initial value setting
32 Velocity loop integral gain - 1 to 99,999,999 In accordance with actuator
The parameter which corresponds to deviation caused by external factors, such as friction. The
increased set value improves the repulsive force against load fluctuation.
If it is too high, overshoot and oscillation, as well as vibration in the mechanical system may
occur.
Adjust appropriately while observing the response.
For the conditions for using this item, refer to [Refer: Selection and use of Velocity Loop
Proportional Gain and Velocity Loop Integral Gain] below.
Referance
● Selection and use of Velocity Loop Proportional Gain and Velocity Loop Integral Gain
Each of the 3 parameters - No. 31, 145, and 153 for Velocity Loop Proportional Gain and
Parameters No. 32, 146, and 154 for Velocity Loop Integral Gain - can be set, but only 1
of them will be enabled at the time of operation.
The conditions for selecting which parameter No. setting value is enabled are shown
below.
Enabled Parameter No.
High Output Setting (Parameter No.152)
0 (Disabled)
1 (Enabled)
Gain
scheduling
(Parameter No.144)
~ 100
(Disabled)
Parameters
No.31, 32
Parameters
No.153, 154
101 ~
(Enabled)
Parameters
No.145, 146
Parameters
No.145, 146
When the setting value is high (overshoot)
When the setting
value is low
Time
Speed

IAI PCON-CB series Specifications

General

Brand	IAI
Model	PCON-CB series
Category	Controller
Language	English