IAI RoboNet Operation Manual page 228

Speed Loop Proportional Gain (No. 31, VLPG)
Parameter number
31
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.
Speed
Speed Loop Integral Gain (No. 32, VLPT)
Parameter number
32
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
208
Unit Input range
- 1 to 27661
Setting value is low
Unit Input range
- 1 to 217270
Setting value is high
Set individually in accordance with the actuator characteristics.
Setting value is high (overshoot)
Set individually in accordance with the actuator characteristics.
Setting value is low (overshoot)
Part 1 Specification
Default
Time
Default
Time