IAI America ERC2 - Manual (Page 97)

6. Parameter Settings
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6.2.2 Parameters Relating to the Actuator Operating Characteristics
z Default speed (No.8 VCMD)
The factory setting is the rated speed of the actuator.
When a target position is set in an unregistered position table, the setting in this parameter will be used as the
speed data for the applicable position number.
To reduce the default speed from the rated speed, change the setting in parameter No. 8.
z Default acceleration/deceleration (No.9 ACMD)
The factory setting is the rated acceleration/deceleration of the actuator.
When a target position is set in an unregistered position table, the setting in this parameter will be used as the
acceleration/deceleration data for the applicable position number.
To reduce the default acceleration/deceleration from the rated acceleration/deceleration, change the setting in
parameter No. 9.
z Default positioning band (in-position) (No.10 INP)
The factory setting is “0.10 [mm].”
When a target position is set in an unregistered position table, the setting in this parameter will be used as the
positioning band data for the applicable position number.
Increasing the default positioning band will allow the position complete signal to be output early. Change the
setting in parameter No. 10, as necessary.
z Current-limiting value during home return (No.13 ODPW)
The factory setting conforms to the standard specification of the actuator.
Increasing this setting will increase the home return torque.
This setting need not be changed in normal conditions of use. However, if an increased slide resistance causes
the home return to complete before the correct position depending on the affixing method, load condition or other
factor when the actuator is used in a vertical application, the value set in parameter No. 13 must be increased.
(Do not increase the value beyond 75%.)
z Current-limiting value at standstill during positioning (No.12 SPOW)
The factory setting conforms to the standard specification of the actuator.
Increasing this setting will increase the holding torque at standstill.
This setting need not be changed in normal conditions of use. However, to prevent hunting caused by large
external force applied while the actuator is at standstill, the value set in parameter No. 12 must be increased.
(Do not increase the value beyond 70%.)
z Speed override (No.46 OVRD)
Use this parameter when the actuator needs to be moved at a slower speed to prevent danger when the system
is initially started for test operation.
When movement commands are issued from the PLC, the specified moving speed can be overridden by the
value set in parameter No. 46.
Actual moving speed = [Specified speed] x [Value of parameter No. 46] y 100
Example) Specified “speed” 500 (mm/s)
Value of parameter No. 46 20 (%)
Under the above settings, the actual moving speed becomes 100 mm/s.
The minimum setting unit is “1 [%],” while the input range is “1 to 100 [%].” The factory setting is “100 [%].”
(Note) This parameter is ignored for movement commands issued from a PC or teaching pendant, or movement commands specified
directly as numerical values.
If a PC or teaching pendant is connected, a desired speed ratio can be set and applied to actuator operation from the PC or
teaching pendant.