IAI America XSEL-QX - Manual (Page 484)

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Appendix
Driver Card Parameters
No. Parameter name
Default
value
(Reference)
Input range Unit Remarks
29 Motor/encoder characteristic
word (compatible with E,
priority on E) (configuration
information)
0004H Reference only For adjustment by the manufacturer
30 Motor/encoder control word 1
(compatible with E, priority on
E) (configuration information)
5000 Reference only For adjustment by the manufacturer
31 Motor/encoder control word 2
(compatible with E, priority on
E) (configuration information)
0000H Reference only For adjustment by the manufacturer
32 Motor/encoder control word 3
(configuration information)
(encoder cable length) [m]
2 1 ~ 30 Encoder cable length (m)
œ Be sure to change this
parameter when retrofitting.
33 Motor/encoder control word 4
(configuration information)
14H Reference only For adjustment by the manufacturer
34 Motor/encoder control word 5
(configuration information)
0000H Reference only For adjustment by the manufacturer
35 (Configuration information) 0000H Reference only For adjustment by the manufacturer
36 (Configuration information) 0000H Reference only For adjustment by the manufacturer
37 (Configuration information) 70 0 ~ 200 % * Linear axis (valid with axis 5 or 6)
(Main application version 0.35 or
later)
38 Push torque limit during
positioning
70 0 ~ 200 %
39 Push torque limit at home
return
100 0 ~ 150 %
40 Maximum torque limit 300 10 ~ 400 % * The maximum value that can be
set varies depending on the
motor, etc.
41 Dynamic brake operation
specification
0 0 ~ 1 0: Disable, 1: Enable
42 Software DB operation
specification
0 0 ~ 1 0: Enable, 1: Disable
43 Speed loop gain 500 1 ~ 32767 Proportional gain
44 Speed loop integration time
constant
30 1 ~ 1000 Integral gain
45 Torque filter time constant 0 0 ~ 2500
46 Current control band number 4 0 ~ 4
47 ~
52
(For extension) 0H 0000H ~ FFFFH
53 Current control word 1 0H Reference only For adjustment by the manufacturer
54 Current control word 2 0H Reference only For adjustment by the manufacturer
55 Current control word 3 0H Reference only For adjustment by the manufacturer
56 Current control word 4 0H Reference only For adjustment by the manufacturer
57 Current control word 5 0H Reference only For adjustment by the manufacturer
58 Current control word 6 0H Reference only For adjustment by the manufacturer
59 Current control word 7 0H 0000H ~ FFFFH Bits 0 to 15: Reserved bits
60 Current control word 8 0H 0000H ~ FFFFH Bits 0 to 15: Reserved bits