IAI RoboNet Operation Manual page 229

Torque Filter Time Constant (No. 33, TRQF)
Parameter number
33
This parameter determines the filter time constant applicable to the torque command.
If the mechanical resonance frequency is equal to or lower than the servo loop response frequency, the motor will vibrate.
This mechanical resonance can be suppressed by increasing the setting of this parameter.
It should be noted, however, that increasing the setting too much may affect the stability of the control system.
Current Control Band Number (No. 54, CLPF) <Effective only on the RACON>
Parameter number
54
This parameter sets the control band of the PI current control system.
Caution
This parameter need not be changed in normal conditions of use, so the customer is advised not to change the setting.
If the setting is changed carelessly, the stability of the control system may be affected and a very dangerous condition may
result.
If the actuator generates resonance noise, the noise can be suppressed by changing this parameter. Even in this case,
however, always follow IAI's instruction when changing this parameter.
Unit Input range
- 1 to 2500
Unit Input range
- 0 to 7
Set individually in accordance with the actuator characteristics.
Set individually in accordance with the actuator characteristics.
Part 1 Specification
Default
Default
209