IAI America PCON-CF - Manual (Page 151)

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8. Parameter Settings
z Default acceleration/deceleration (No.9 ACMD)
The factory setting is the rated acceleration/deceleration of the actuator.
When a target position is written to an unregistered position table or the current position is read in the teaching
mode, the setting in this parameter will be used as the acceleration/deceleration data for the applicable position
number.
To reduce the default acceleration/deceleration from the rated acceleration/deceleration, change the setting in
parameter No. 9.
z Default positioning band (in-position) (No.10 INP)
The factory setting is “0.10 [mm].”
When a target position is written to an unregistered position table or the current position is read in the teaching
mode, the setting in this parameter will be used as the positioning band data for the applicable position number.
Increasing the default positioning band will allow the position complete signal to be output early. Change the
setting in parameter No. 10, as necessary.
z Current-limiting value at standstill during positioning (No.12 SPOW)
The factory setting conforms to the standard specification of the actuator.
Increasing this setting will increase the holding torque at standstill.
This setting need not be changed in normal conditions of use. However, to prevent hunting caused by large
external force applied while the actuator is at standstill, the value set in parameter No. 12 must be increased.
(Do not increase the value beyond 70%.)
z Current-limiting value during home return (No.13 ODPW)
The factory setting conforms to the standard specification of the actuator.
Increasing this setting will increase the home return torque.
This setting need not be changed in normal conditions of use. However, if an increased slide resistance causes
the home return to complete before the correct position depending on the affixing method, load condition or other
factor when the actuator is used in a vertical application, the value set in parameter No. 13 must be increased.
(As a guide, the maximum limit is 100% for the RA3C/RA3D types and 75% for all other types.)
z Home sensor input polarity (No. 18 LS)
This parameter is supported when a RCP2-RTB/RTC rotational axis is used in the home sensor mode.
Definition of settings : 0 (Sensor not used)
: 1 (Sensor polarity of contact a)
: 2 (Sensor polarity of contact b)
z Speed override (No.46 OVRD)
Use this parameter when moving the actuator at a slower speed to prevent danger when the system is initially
started for test operation.
When move commands are issued from the PLC, the moving speed set in the “Speed” field of the position table
can be overridden by the value set by parameter No. 46.
Actual moving speed = [Speed set in the position table] x [Value of parameter No. 46]
100
Example) Value in the “Speed” field of the position table500 (mm/s)
Value of parameter No. 46 20 (%)
Under the above settings, the actual moving speed becomes 100 mm/s.
The minimum setting unit is “1 [%],” while the input range is “1 to 100 [%].” The factory setting is “100 [%].”
Caution: For the positioning band, set the value greater than that of the encoder resolution.
Setting it smaller may cause a servo error.
(Note) This parameter is ignored for move commands from the PC and teaching pendant.