IAI America ACON-PO - Manual (Page 67)

57
5. Parameter Settings
5. Parameter Settings
5.1 Parameter List
Caution: This product uses a non-volatile memory (EEPROM) as the storage medium.
If the power is cut off while data is still being written, the data may not be written correctly.
Exercise due caution to prevent cutoff of power while rewriting parameters.
The parameters are classified into the following four types depending on their function:
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. Type Symbol Name Unit Factory default
3 a LIMM Soft limit + side mm Effective length of the actuator
4 a LIML Soft limit – side mm Effective length of the actuator
5 a ORG Home direction [0: Reverse / 1: Forward] - (As specified at the time of order)
7 d PLGO Servo gain number - 6
9 b ACMD Default acceleration/deceleration G
Set individually in accordance with
the actuator characteristics.
10 b INP Default positioning band (in-position) mm
Set individually in accordance with
the actuator characteristics.
13 b ODPW Current-limiting value during home return %
Set individually in accordance with
the actuator characteristics.
16 c BRSL SIO communication speed bps 38400
17 c RTIM Minimum delay time for slave transmitter activation msec 5
18 c LS
Home sensor input polarity
[0: None / 1: Contact a / 2: Contact b]
- 0
21 c SON Servo-on input [0: Enable / 1: Disable] 0
22 a OFST Home offset mm
Set individually in accordance with
the actuator characteristics.
25 c IOPN PIO pattern selection - 0 [Standard type]
28 b PHSP
Default direction of excited phase signal detection
[0: Reverse / 1: Forward]
0
29 b PHSP Excited phase signal detection time msec 128
30 b PHSP
Pole sensing type [0: Current suppression /
1: Distance suppression]
- 1
31 d VLPG Speed loop proportional gain -
Set individually in accordance with
the actuator characteristics.
32 d VLPT Speed loop integral gain -
Set individually in accordance with
the actuator characteristics.
33 d TRQF Torque filter time constant -
Set individually in accordance with
the actuator characteristics.
35 b SAFV Safety speed mm/sec 100
40 c HOME Homing input [0: Enable / 1: Disable] - 0 [Enable]
42 b ENBL Enable function [0: Enable / 1: Disable] - 1 [Disable]
43 b HMC
Home check sensor input polarity [1: Contact a /
2: Contact b]
-
Set individually in accordance with
the actuator characteristics.
45 c SIVM Silent interval multiplication factor - 0 [Multiplication factor disabled]
52 c HSTP Default acceleration/deceleration mode - 0 [Trapezoid]
54 d CLPF Current control band number -
Set individually in accordance with
the actuator characteristics.