IAI RoboNet, Operation Manual

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208
Part 1 Specification
z
Speed Loop Proportional Gain (No. 31, VLPG)
Parameter number Unit Input range Default
31 - 1 to 27661 Set individually in accordance with the actuator characteristics.
This parameter determines the level of response with respect to a speed control loop.
Increasing the setting value improves compliance with the speed command (i.e., servo rigidity increases).
The greater the load inertia, the higher the setting value should be.
However, increasing the setting value too much increases the tendency of the actuator to overshoot or oscillate, resulting in
increased mechanical vibration.
z
Speed Loop Integral Gain (No. 32, VLPT)
Parameter number Unit Input range Default
32 - 1 to 217270 Set individually in accordance with the actuator characteristics.
This parameter determines the level of response with respect to a speed control loop.
Increasing the setting results in lower response with the speed command and decreases the reactive force upon load
change.
Decreasing the setting too much increases the tendency of the actuator to overshoot or oscillate, resulting in increased
mechanical vibration.
If the setting is low, compliance with the position command drops and the positioning time increases as a result.
Speed
Setting value is high (overshoot)
Setting value is low
Time
Speed
Setting value is low (overshoot)
Setting value is high
Time