IAI R-unit RSEL, Инструкция по эксплуатации, Страница: 585 / 844

Chapter 10 Parameter
10.3 Parameter List (Driver Unit)
10-52
ME0392-4C
[Servo Gain Number (Parameter No. 7)]
No. Name Unit Input range Default initial value setting
7 Servo gain number － 0 to 31 In accordance with actuator
Called position loop gain, position control system proportional gain, etc., this is the parameter
that sets the response of the position control loop. The increased set value improves tracking of
position command. If it is too high, overshoot may occur.
If the setting value is low, tracking performance with respect to the position command becomes
worse, and positioning takes time.
In systems with low mechanical rigidity and systems with low natural frequency, mechanical
resonance occurs when the setting value is increased, and this may cause not only vibration
and noise, but also overload malfunctions.
Velocity
Time
When the setting
value is low
When the setting value is high (overshoot)
10.3 Parameter List (Driver Unit)
ME0392-4C
10-53
[Positioning Band (In-Position) Initial Value (Parameter No. 10)]
No. Name Unit Input range Default initial value setting
10 Positioning band initial
value
mm
(deg)
0.01 (Note 1) to 999.99 In accordance with actuator
This value should be the initial value for the positioning band width at the movement complete
with a movement command (e.g. MOVP Command).
Change is available to make in PBND Command.
Caution
For the initial positioning band width, set a value of or higher than the minimum positioning
band width.
The minimum resolution can be calculated with the equation below.
Minimum resolution [mm/pulse] = Actuator lead [mm/r] / Encoder resolution [pulse/r]
For RCP2/3/4/5 Series, a value 3 times the minimum resolution will be the minimum positioning
width.
Note 1 For RCP4 and RCP5 Series actuators, the minimum setting should be the value for the
minimum positioning band width.
[Current Limit During Positioning Stop (Parameter No. 12)]
No. Name Unit Input range Default initial value setting
12 Current limit during
positioning stop
% 0 to 70 In accordance with actuator
By increasing the value, torque retention during stop will be increased.
There is normally no need to make changes. If significant external force is applied during the stop,
it is necessary to increase the set value. Contact IAI.
Stepper motor specification only