IAI America ACON-PO - Manual (Page 109)

99
* Appendix
Parameter Record
Recorded date:
Types: a: Parameter relating to actuator stroke range
b: Parameter relating to actuator operating characteristics
c: Parameter relating to external interface
d: Servo gain adjustment
No. TypeSymbol Name Unit Recorded data
3 a LIMM Soft limit + side mm
4 a LIML Soft limit – side mm
5 a ORG Home direction [0: Reverse / 1: Forward] -
7 d PLGO Servo gain number -
9 b ACMD Default acceleration/deceleration G
10 b INP Default positioning band (in-position) mm
13 b ODPW Current-limiting value during homing %
16 c BRSL SIO communication speed bps
17 c RTIM Minimum delay time for slave transmitter activation msec
18 c LS
Home sensor input polarity
[0: None / 1: Contact a / 2: Contact b]
-
21 c SON Servo-on input [0: Enable / 1: Disable]
22 a OFST
Home offset mm
25 c IOPN PIO pattern selection -
28 b PHSP
Default direction of excited phase signal detection [0:
Reverse / 1: Forward]
29 b PHSP Excited phase signal detection time msec
30 b PHSP
Pole sensing type [0: Current suppression / 1: Distance
suppression]
-
31 d VLPG Speed loop proportional gain -
32 d VLPT Speed loop integral gain -
33 d TRQF Torque filter time constant -
35 b SAFV Safety speed mm/sec
40 c HOME Homing input [0: Enable / 1: Disable] -
42 b ENBL Enable function [0: Enable / 1: Disable] -
43 b HMC
Home check sensor input polarity [1: Contact a / 2:
Contact b]
-
45 c SIVM Silent interval multiplication factor -
52 c HSTP Default acceleration/deceleration mode -
54 d CLPF Current control band number -
55 b PLPF Primary filter time constant for position command msec
57 b TQLM Torque limit %
58 c SDCR
Clear deviation at servo off/alarm stop [0: Disable / 1:
Enable]
-
59 b FSTP
Monitor error while limiting torque [0: Disable / 1:
Enable]
-
60 c DCLR Deviation-counter clear input [0: Enable / 1: Disable] -