IAI ASEP, Operation Manual

Page: 49 / 56

43
• Servo-Motor Gain No. No.3
This parameter decides the responsibility to the
position control loop.
When the set value is increased, the follow-up
ability to the position command becomes better.
However, if the value is too large, an overshoot
is caused easily. When the set value is too low,
the follow-up ability to the position command is
degraded and it takes longer time to complete
the positioning.
• Velocity Loop Proportional Gain No.5
This parameter decides the responsibility to the
velocity control loop.
When the set value is increased, the follow-up
ability to the velocity command becomes better
(the servo-motor rigidity is enhanced).
As the load inertia is larger, increase the set
value. However, if the set value is increased too
much, an over-chute or oscillation is caused,
which might easily cause a vibration in the
mechanical system.
Speed When the set value is low: (overshoot)
When the set value is high:
Time
• Velocity Loop Integrated Gain No.6
This parameter decides the responsibility to the
velocity control loop.
When the set value is increased, the follow-
up ability to the velocity command is degraded
and the resiliency to the load change becomes
weaker. When the value is decreased too much,
an over-chute or oscillation is caused, which
might easily cause a vibration in the mechanical
system.
When the set value is too low, the follow-up
ability to the position command is degraded and
it takes longer time to complete the positioning.
• Torque Filter Time Constant No.4
This parameter decides the fi lter time constant
for the torque command. In the case that the
machine’s resonance frequency is the same as
or lower than the servo-motor loop response
frequency, the motor causes a vibration. When
the set value is increased, this mechanical
resonance can be controlled.
However, when this value is increased too
much, the stability in the control system might
be damaged.
Speed When the set value is high: (overshoot)
When the set value is low:
Time
Speed
When the set value is high: (overshoot)
When the set value is low:
Time