IAI Rcon, Instruction Manual, Page: 569 / 838

6.1 Parameter
B6-62
ME0384-4A
St
art
up
Se
ctio
n
No. Problems Adjustment method
3 • Speed irregularity occurs
during travel
• Speed accuracy is
insufficient
• Increase Parameter No. 31 "Velocity Loop Proportional
Gain". The increased set value improves tracking of
speed command. If it is too large, mechanical system
vibration may occur. As a setting guideline, try to
increase the initial values by about 20% respectively.
4 Abnormal noise
In particular, high-pitched
noise occurs when stopping
or at low speed (50 mm/s or
less). • Enter Parameter No. 33 "Torque Filter Constant". As a
setting guideline, try to increase by 50 respectively. If it
is too large, stability of the control system may be
impaired and vibration may occur.
[Important] Before adjustment
This phenomenon is likely to occur when the rigidity of
the mechanical system is not maintained. Even with the
actuator alone, resonance may occur in the belt drive or
if the stroke exceeds 600 mm.
Before adjustment, make sure that:
(1) Parameter No. 7 "Servo Gain Number", Parameter No.
31 "Velocity Loop Proportional Gain" and Parameter No.
32 "Velocity Loop Integral Gain" are not set too high.
(2) Rigidity of the load is maintained as much as possible.
Mounting is not loose and there is no play, etc.
(3) The actuator body has been installed firmly with the
prescribed torque.
(4) There is no distortion on the mounting surface of the actuator.
5 • Trajectory accuracy needs
to be higher
• Constant speed needs to
be higher
• Response needs to be
better
• Refer to adjustment methods No. 1 to 3 described above
and adjust Parameter No. 7 "Servo Gain Number" and
Parameter No. 31 "Velocity Loop Proportional Gain" to
optimize the conditions.
[Reference]
Selection of the actuator (motor) is the most important
factor.
The servo motor is very sensitive to the magnitude of
load inertia. If the moment of inertia on the load side
(load inertia) is too large with respect to the moment of
inertia of the motor itself (motor inertia), the servo motor
will cause the motor to be wagged by the load, as it
were, resulting in unstable control.
Therefore, in order to improve trajectory, position, speed,
response, etc., it is necessary to reduce the load inertia
ratio.
For applications such as coating, if trajectory accuracy,
constant velocity, response, etc. are called for, it is
recommended to make the actuator ball screw lead as
small as possible and to select an actuator with a higher
motor capacity.