IAI RCM-P6AC, Instruction Manual

Page: 212 / 286

8. Parameter
Fieldbus Communication
200
RCP6S
[22] Velocity loop integral gain (Parameter No.32)
No. Name Symbol Unit Input Range
Default factory
setting
32 Velocity Loop Integral Gain VLPT - 1 to 217270
In accordance
with actuator
Any machine produces frictions. This parameter is intended to cope with deviation generated
by external causes including frictions. Increasing the setting value improves the reactive
force
against load change. That is, the servo rigidity increases. However, increasing the parameter
value excessively may make the gain too high, which then cause the machine system to be
vibrated due to overshoot or shaking.
Tune it to obtain the optimum setting by watching the velocity response.
When the set value is low
When the set value is high (over-shoot)
Velocity
Time
Also, for the conditions to use this item in RCP6S and RCM-P6PC, refer to “Selecting to Use
Velocity Loop Proportional Gain and Velocity Loop Integrated Gain” in the bottom of the next page.
【
Selecting the Use of velocity loop proportional gain and velocity loop
integrated gain
】
Even though Velocity Loop Proportional Gain of RCP6S and RCM-P6PC can be set to
Parameter No.31, 145 and 153, and Velocity Loop Integrated Gain to Parameter No.32, 146
and 154, the values to be effective during an operation is just one of them. The following
table shows which parameter number becomes effective in each condition.
Effective Parameter Number
High Output Setting (Parameter No.152)
0 (Disable) 1 (Enable)
to 100
(Disable)
Parameter No.31, 32 Parameter No.153, 154
Gain Scheduling
(Parameter No.144)
101 to
(Enable)
Parameter No.145, 146 Parameter No.145, 146
ME0349-4B