IAI TB-02, Инструкция по эксплуатации

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3. Operation of CON Related Controllers
137
Select either “Base Control width” or “Simple Tuning” in the
tuning method. 
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When “Simple Tuning” is selected in the tuning method, select
a tuning rule from the following four types. 
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Touch [Calculation] button. 
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Cycle time and gain value are calculated and displayed.
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Touch [Graph], and the graph of the cycle time will be
displayed. 
■ Calculated Items
Cycle time Gain
Base Control
Width 
It is suitable when it is required to
calculate the gain automatically
considering the payload, but not
necessary to increase the responsiveness. 
Simple Tuning  It is suitable when it is required to
calculate the gain automatically
considering the payload, and also to
increase the responsiveness. 
Tuning Rules Explanations
Default
Select the optimum rule to the selected actuator and tuning is performed
based on that rule.
(
Note) Optimum Rule : Out of three rules, Tight, Ratio and Stiff, a rule
capable to consider not to generate vibration and
abnormal noise, and to increase responsiveness
as much as possible at the same time
Tight
It is a rule that increases the responsiveness the most in the three rules,
but has the highest risk of generating vibration and abnormal noise at the
same time.
Ratio
It is a rule of which the increase of the responsiveness is higher than Stiff
and lower than Tight, and the risk of generating vibration and abnormal
noise is lower than Tight and higher than Stiff.
Stiff
It is a rule that generates less vibration and abnormal noise in the three
rules, but makes smallest increase to the responsiveness in the three.
Item name Unit
Posit. time (s)
Cycle time
(include pause time)
(s)
Load factor (%)
Item name
Servo gain No.
Position feedforward gain
Vel. loop proportional gain
Vel. loop integral gain
Torque filter constant
Current control width No.