IAI MCON-C, Instruction Manual, Page: 91 / 480

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13) Transported Load/Gain Set········· In this section, the features differ for each motor type.
Motor Type Symbol Function
Pulse Motor Type 13)-
1
Transported Load
Servo Motor Type 13)-
2
Gain Set
13)-
1
Transported Load··· Register 4 types of load weights with using the smart tuning,
and choose the number from the registered numbers (0 to 3)
that is to be used.
From the numbers (load weights) registered in this section,
the shortest tact time function calculates the optimum speed
and acceleration/deceleration.
[Refer to the instruction manual of smart tuning tool for how to
register the load weights and shortest tact time.]
Setting Name
0
Transported Load Pattern No.0
1
Transported Load Pattern No.1
2
Transported Load Pattern No.2
3
Transported Load Pattern No.3
13)-
2
Gain Set ··············Six parameters required for servo gain adjustment are
collected to be a single set. 4 types of settings are able to be
registered and the servo gains can be switched over for each
positioning operation. By utilizing Smart Tuning Function
(Note 1)
in the PC software, the setting close to the optimum can be
obtained.
Note 1 Refer to Chapter 10.4 List of Specifications of
Connectable Actuators for the applicable models.
It may require the setting of the gain set dedicated for
the home-return operation in the case this function is
used to have the high-speed setting or the setting to
apply a transported weight more than the ratings.
For how to set up and the caution items, refer to the
instruction manual for RC PC Software.
[Parameters constructed in 1 set]
y
Servo Gain Number (Position Gain)
y
Position Feed Forward Gain
y
Speed Loop Proportional Gain
y
Speed Loop Integral Gain
y
Torque Filter Time Constant
y
Current Control Band Number
It is able to establish the gain set that corresponds to the position
number to be operated to the indicated gain set.
[Refer to “Servo Adjustment” in Section 8.3 for each gain parameter
details.]
Setting Parameter Set Select Parameter No.
0 Gain Set 0 7, 71, 31 to 33, 54
1 Gain Set 1 120 to 125
2 Gain Set 2 126 to 131
3 Gain Set 3 132 to 137
Pulse Motor Type
Limited Feature
Servo Motor Type
Limited Feature
3.3 Setting of Position Data