IAI America ERC2 - Manual (Page 94)

6. Parameter Settings
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6. Parameter Settings
6.1 Parameter Table
Parameters are classified into four types according to their content.
Category: a: Parameter relating to the actuator stroke range
b: Parameter relating to the actuator operating characteristics
c: Parameter relating to the external interface
d: Servo gain adjustment
No. Category Symbol Name Unit Default factory setting
1 a ZONM Zone boundary 1+ mm Effective actuator length
2 a ZONL Zone boundary 1– mm Effective actuator length
3 a LIMM Soft limit+ mm Effective actuator length
4 a LIML Soft limit– mm Effective actuator length
5 a ORG
Home return direction
(0: Reverse/1: Forward)
-
(In accordance with the specification at the
time of order)
6 b PSWT Push & hold stop judgment period msec 255
7 d PLG0 Servo gain number -
Set individually in accordance with the
actuator characteristics.
8 b VCMD Default speed mm/sec
Set individually in accordance with the
actuator characteristics.
9 b ACMD Default acceleration/deceleration G
Set individually in accordance with the
actuator characteristics.
10 b INP Default positioning band (in-position) mm 0.10
12 b SPOW Current-limiting value at standstill during positioning %
Set individually in accordance with the
actuator characteristics.
13 b ODPW Current-limiting value during home return %
Set individually in accordance with the
actuator characteristics.
16 c BRSL SIO communication speed bps 230400
17 c RTIM Minimum delay time for slave transmitter activation msec 5
22 a OFST Home return offset mm
Set individually in accordance with the
actuator characteristics.
23 a ZNM2 Zone boundary 2+ mm Effective actuator length
24 a ZNL2 Zone boundary 2– mm Effective actuator length
28 b PHSP1 Default direction of excited-phase signal (0: Reverse/1:
Forward)
-
Set individually in accordance with the
actuator characteristics.
29 b PHSP2 Excited-phase signal detection time msec
Set individually in accordance with the
actuator characteristics.
31 d VLPG Speed loop proportional gain -
Set individually in accordance with the
actuator characteristics.
32 d VLPT Speed loop integral gain -
Set individually in accordance with the
actuator characteristics.
33 d TRQF Torque filter time constant -
Set individually in accordance with the
actuator characteristics.
34 b PSHV Push speed mm/sec
Set individually in accordance with the
actuator characteristics.
35 b SAFV Safety speed mm/sec 100
39 c FPIO
Output mode of position complete signal
(0: PEND/1: INP)
- 0 [PEND]
45 c SIVM Silent interval multiplication factor times 0 (Multiplication factor is not applied)
46 b OVRD Speed override % 100
53 b CTLF Default standstill mode - 0 [Complete stop]
(Note) The numbers are displayed in the PC software, but not on the teaching pendant.
Skipped numbers are not used and therefore omitted.
The classification codes are provided for the sake of convenience and are not displayed either in the PC
software or on the teaching pendant.