IAI X-SEL User Manual

501
Appendix
INTELLIGENT ACTUATOR
 Speed Loop Integral Time Constant (Parameter List 1)
Driver card parameter
number
Unit Input range Default
(reference)
44 - 1 to 1000 30
This parameter determines the level of response with respect to a speed control loop.
Increasing the setting too much results in lower response with the speed command and decreases the
reactive force upon load change. If the setting is low, compliance with the position command also drops
and the positioning time increases as a result.
Decreasing the setting too much increases the tendency of the actuator to overshoot or oscillate, resulting
in increased mechanical vibration.
 Current Loop Control Band Number
Driver card parameter
number
Unit Input range Default
(reference)
46 - 0 to 4 4
This parameter is used to set the control band of the PI current control system.
Normally this parameter need not be changed. If the parameter is changed carelessly, stability of the
control system may be affected and a very dangerous situation may occur.
However, changing this parameter may be effective in certain situations, such as when you want to
suppress resonance.
If you wish to change this parameter, contact IAI.
 Torque Filter Time Constant (Parameter List 1)
Driver card parameter
number
Unit Input range Default
(reference)
45 - 1 to 2500 0
This parameter determines the filter time constant applicable to the torque command.
If the mechanical resonance frequency is equal to or lower than the servo loop response frequency, the
motor will vibrate.
This mechanical resonance can be suppressed by increasing the setting of this parameter.
It should be noted, however, that increasing the setting too much may affect the stability of the control
system.
Speed
Setting is low (overshoot)
Setting is high
Time

IAI X-SEL Specifications

General

Brand	IAI
Model	X-SEL
Category	Controller
Language	English