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IAI America ERC3 User Manual

Page 258

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Chapter 4 Operation

4.3

O

per

at

io

n

in

P

ul

se

T

rai

n

Co

nt

ro

l M

od

e

(Ho

w

to

O

per

at

e

Pulse

Train Control

Type)

248

EMG

Servo

T

26ms

Lock
Release

PEND

Brake Excitation

T (before detecting excitation) = SON signal identification (6ms) + Excitation detection time (T1

+ T2) × Number of retry (10 times Max.) + Servo ON delay

time (T3)

T (after detecting excitation) = SON signal identification (6ms) + Servo ON delay time (T3)

T1 : Parameter No.30 It differs depending on the setting of excitation detection type.

Set Value = 0 ĺ 160ms

Set Value = 1, 2 ĺ 220ms

T2 : Parameter No.29 Setting of excitation phase signal detection time

It is set to 10ms in the initial setting.

T3 : Fixed to 20ms

(Note) Excitation detection operation of the motor is conducted at the first servo-on after the

power is turned ON.