IAI America ERC3 - Manual (Page 330)

Chapter 6
Adjustment of Operation
6.3 I/O Parameter
6.3.1 Positioner Mode 1, Positioner Mode 2 and Pulse
Train Control Mode
320
(25) Torque filter time constant (Parameter No.33)
No. Name Symbol Unit Input Range Default factory setting
33 Torque filter time constant TRQF – 0 to 2500
In accordance with
actuator
This parameter decides the filter time constant for the torque command. When vibrations and/or
noises occur due to mechanical resonance during operation, this parameter may be able to
suppress the mechanical resonance. This function is effective for torsion resonance of ball
screws (several hundreds Hz).
(26) Press velocity (Parameter No.34)
No. Name Symbol Unit Input Range Default factory setting
34 Press velocity PSHV mm/s 1 to actuator's max.
pressing speed
In accordance with
actuator
This is the parameter to set the velocity in pressing operation.
If a change to the setting is required, make sure to have the setting below the maximum
pressing velocity of the actuator. Setting it fast may disable to obtain the specified pressing
force. Also when setting at a low velocity, take 5mm/s as the minimum.
Velocity
Press Velocity
Positioning width
Work
Positioning Velocity
Caution: If the velocity of the positioning of the position table is set below this
parameter, the pressing speed will become the same as the positioning
speed.
(27) Safety velocity (Parameter No.35)
No. Name Symbol Unit Input Range Default factory setting
35 Safety velocity SAFV
mm/s
(deg/s)
1 to 250 (below
maximum speed)
100
This is the parameter to set the maximum speed of manual operation while the safety velocity
selected in the teaching tool. Do not have the setting more than necessary.