IAI America ERC3 - Manual (Page 267)

Chapter 4 Operation
4.3
Operation in Pulse
Train Control Mode (How to Operate
Pulse
Train Control
Type)
257
[9] Parameter Settings Required for Advanced Operations
Depending on systems and/or loads, set the following parameters if necessary.
(1) Position command primary filter time constant
No. Name Symbol Unit
Input
Range
Initial
Value
55
Position command primary
filter time constant
PLPF msec
0.0 to
100.0
0.0
The acceleration/deceleration of the actuator can be set in S-shaped curve with this parameter
setting. (It is not the S-shaped acceleration/deceleration function.)
If command pulse train is input at a certain frequency, the actuator is accelerated/decelerated
slowly depending on the time constant.
The actuator moves by the number of command pulses.
Even if the host controller (PLC etc.) has no acceleration/deceleration function or the
frequency of command pulses varies rapidly, the actuator can be accelerated/decelerated
smoothly.
The delay in positioning stabilizing time requires approximately 3 times longer than the set
value after the command pulse input stop. If the set value is 100ms, the stabilizing time would
be approximately 300ms.
Pulse Train
Velocity
(2) Torque Limit
No. Name Symbol Unit
Input
Range
Initial
Value
57 Torque Limit TQLM % 0 to 70 70
Set a desired torque limit used in the torque limit input signal TL, which is an external input
signal.
Set the torque in % to the rated thrust (rated current).
[Refer to 1.2.1 [6] Current Limit Value and Pressing Force]
When the torque limit signal TL of the external input signal is turned ON, current limitation
corresponding to the setting is applied.
When the torque current of the motor reaches the set value, the torque limiting signal TLR of
the external output signal is output.
(3) Clearing deviation during servo OFF or alarm stop
No. Name Symbol Unit
Input
Range
Initial
Value
58
Clearing deviation during servo OFF
or alarm stop
FSTP – 0 to 1 1
It can be selected whether to valid or invalid the deviation clear at the servo-off or an alarm
stop.
0: Disable
1: Enable