IAI America XSEL-KX - Manual (Page 326)

310
Appendix
Driver Card Parameters
No. Parameter name
Default value
(Reference)
Input range Unit Remarks
29 Configuration information
07:
Motor/encoder
characteristics word
0004H Reference
only
Bit 0: Change prohibited (0: Rotary)
Bit 1: ABS specification bit (1: ABS, 0: INC) (Used for
consistency check with the MAIN parameter. When INC
is specified, the installed encoder must behave like an
incremental encoder to the MAIN application even when
it is of absolute type.)
Bit 2: Magnetic-pole sensor installation bit (1: Installed, 0: Not
installed)
Bit 3: Brake installation bit (1: Installed, 0: Not installed)
30 Configuration information
08:
Encoder cable length
2 1 ~ 30 m  Be sure to change this parameter when retrofitting.
31 Configuration information
09:
Control characteristics
word
0018H Reference
only
Bit 0: Incremental operation specification bit when absolute
data is indeterminable (1: Incremental operation, 0:
Error stop)
Bits 1 and 2: Control mode specification bits (2: Pickup
operation (driver version 0.13 or later), 1: Torque
control, 0: Speed control, Other: Reserved)
Bits 3 to 6: Encoder division factor (Pulses are multiplied by
the “n”th power of 1/2. Code extension.)
Bit 7: DB operation specification bit at servo OFF (1:
Use, 0: Do not use)
Bits 8 to 11: Maximum torque limit specification bits (300-n
(positive value) x 10%) (Driver version 0.22 to
0.25)
Bits 8 to 12: Maximum torque limit specification bits (300-n
(positive value) x 10%) (Any setting below 10%
will be considered 10%.) (Driver version 0.26)
32 Configuration information
10:
Push torque limit at home
return
100 0 ~ 150 % When the setting is changed, whether or not the phase-Z
detection position will shift due to change in the elastic
deformation amount of the contacted mechanical end must be
checked.
33 Configuration information
11: Push torque limit at
positioning
70 0 ~ 70 %
34 Configuration information
12:
For future extension
0H Reference
only
35 Configuration information
13:
Speed-command underrun
count
0 Reference
only
36 Configuration information
14:
For future extension
0H Reference
only
37 Configuration information
15:
For future extension
0H Reference
only
38 Speed-loop gain
(Parameter list 1)
500 1 ~ 32767 Proportional gain
39 Speed-loop integral
constant (Parameter list 1)
30 1 ~ 1000 Integral gain
40 Current-loop control range
number (Parameter list 1)
4 0 ~ 4
41 For future extension
(Parameter list 1)
0H Reference
only
42 Torque filter constant
(Parameter list 1)
0 0 ~ 2500
43 Rotor inertia ratio
(Parameter list 1)
(For future extension =
Change prohibited)
10 1 ~ 100
44 For future extension
(Parameter list 1)
0H Reference
only
45 For future extension
(Parameter list 1)
0H Reference
only