IAI America PCON-CFA - Manual (Page 204)

4. SCON-CA
196
(* In the table, ON indicates that the applicable bit is “1,” while OFF indicates that the applicable bit is “0.”)
Address Bit Symbol Function Details
Acceleration 16-bit data -
Deceleration 16-bit data -
16-bit integer.
Specify the acceleration and deceleration at which to move the
actuator.
The unit is 0.01 G, while the specifiable range is 1 to 300.
(Example) To set 0.30 G, specify “30.”
If a move command is issued by specifying “0” or a value
exceeding the maximum acceleration or maximum deceleration,
an alarm will occur.
4.8 (3)
Load current
threshold
16-bit data -
16-bit integer.
If judgment will be made as to whether or not the load current
exceeded the set value, specify the threshold value for current
using this register.
The specifiable range is 0 (0%) to 510 (200%).
If judgment is not performed, enter “0.”
4.8 (3)
b15
b14
- Cannot be used. -
b13 NTC1
Vibration damping
control mode
selection 1
b12 NTC0
Vibration damping
control mode
selection 0
Select the vibration damping control
parameter set to be used.
NTC1 NTC0 Function
OFF
OFF
Do not use vibration
damping control.
OFF ON Select parameter set 1.
ON OFF Select parameter set 2.
ON ON Select parameter set 3.
4.6.11 (29)
b11
b10
- Cannot be used. -
b9 ASO1 Stop mode 1
b8 ASO0 Stop mode 0
Select the stop mode during standby.
ASO1 ASO0 Function
OFF OFF
Invalid (The servo is
always on.)
OFF ON
The servo turns off
after the time is set in
parameter No. 36.
ON OFF
The servo turns off
after the time is set in
parameter No. 37.
ON ON
The servo turns off
after the time is set in
parameter No. 38.
4.6.11 (31)
b7 MOD1
b6 MOD0
Acceleration/deceleration mode:
Trapezoid pattern when both signals are OFF,
S-motion when MOD1 is OFF and MOD0 is ON, or
primary delay filter when MOD1 is ON and MOD0 is OFF.
4.6.11 (30)
b5 GSL1
Servo gain
parameter set
selection 1
P
LC
o
ut
pu
t
Control
signal 1
b4 GSL0
Servo gain
parameter set
selection 0
Select the servo gain parameter set to be
used.
GSL1 GSL0 Function
OFF OFF Select parameter set 0.
OFF ON Select parameter set 1.
ON OFF Select parameter set 2.
ON ON Select parameter set 3.
4.6.11 (33)