IAI RoboNet Operation Manual page 222

Position Feed-Forward Gain (no. 71, PLFG) <Effective only on the RACON>
Parameter No. Unit
71
This parameter sets the feed-forward gain of the position control system.
When this parameter is set, the servo gain will increase and the response of the position control loop will improve.
Use this parameter if you want to improve the response of a system of low mechanical rigidity or mechanical system with a
large load inertia ratio.
As a guide, set a value between 10 and 80. Increasing the setting value reduces the deviation and improves the response.
If an excessively large value is set, however, vibration or noise may occur.
Default Stop Mode (No. 53, HSTP2) <Effective only on the RPCON>
This parameter defines the power-saving mode to be applied when the actuator stands by for a long period while the facility
is operating.
This parameter is effective only on the RPCON.
Whether or not to use the power-saving mode is defined by parameter No. 53.
Disable the power-saving mode
Full-servo control mode
The factory setting is "0 [Disable]."
Full-servo Control Method
The holding current can be reduced by servo-controlling the pulse motor.
Although the specific level varies according to the actuator model, load condition, etc., the holding current will decrease to
approx. one-half to one-fourth.
Since the servo remains ON with this method, position deviation does not occur.
The actual holding current can be checked on the current monitor screen of the PC software.
Current-limiting Value at Standstill after Missing Load in Push Operation (No. 91, PSFC)
This parameter defines the current-limiting value to be applied while the actuator is at standstill after missing the load in
push operation.
The definition varies between RACON and RPCON controllers as shown below.
Parameter
No. 91
Current-limiting value during
0 movement (3 times the rated
motor current)
1 Push-current limiting value
202
Input range
- 0 to 100
RACON
Current-limiting value at standstill in
positioning operation (Value of
parameter No .12)
Push-current limiting value
Default
0
Setting value
Standstill mode = Power-saving
mode disabled
Part 1 Specification
0
4
RPCON
Standstill mode = Full-servo control
Current-limiting value during
movement (3 times the rated motor
current)
Push-current limiting value