IAI America RCM-101-USB - Manual (Page 75)

5. Editing Position Data on CON Controllers and Older Models
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(8) Position data input area
On the SCON-CA (Software Version V8.00.00.00 or later) and MSCON, the following input items have been
changed or added.
These items are effective only on SCON-CA and MSCON controllers:
[1] Gain Set “Cmnd Mode” has been changed to “Gain Set.”
[2] Vib. Sup. No. “Vib. Sup. No.” has been added.
(Note) For PCON, ACON, SCON, ERC2 and ROBONET as well as SCON-CA and MSCON, Version
V8.00.00.00 and later show the following screen display.
Fig. 5.27
The changed/added items are explained below.
[1] Gain Set ···········Six parameters needed to adjust the servo gain are put together as one set. Four different
sets can be registered, so you can switch the servo gain for each positioning operation.
[Parameters constituting one set]
• Servo gain number (position gain)
• Position feed-forward gain
• Speed loop proportional gain
• Speed loop integral gain
• Torque filter time constant
• Current control band number
Setting Operation after completion of position Parameter number
0 Gain set 0 7, 71, 31 to 33, 54
1 Gain set 1 120 to125
2 Gain set 2 126 to131
3 Gain set 3 132 to137
[1] [2]