IAI America PCON-PO - Manual (Page 78)

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5. Parameter Settings
5.2.2 Parameters Relating to Actuator Operating Characteristics
Default Acceleration/Deceleration (No.9 ACMD)
The factory setting is the rated acceleration/deceleration of the actuator.
This value will be the acceleration/deceleration value during jog operation from the teaching pendant or PC software.
To decrease the default acceleration/deceleration from the rated acceleration/deceleration, change the value set in
Parameter No. 9.
Default Positioning Band (In-position) (No.10 INP)
Factory setting for parameter No. 10 is 0.01 mm.
This value is used for evaluating positioning completion. With a pulse-train input type, the positioning complete signal
(INP) turns ON when the deviation in the deviation counter (standing pulses) is within the range indicated by this
parameter.
Increasing this value may cause output of positioning complete signal (INP) even though the actuator is still moving.
Current-limiting Value during Homing (No.13 ODPW)
Before shipment, this parameter is set to a current level appropriate for the standard specification of the actuator.
Increasing this parameter value increases the homing torque.
This parameter need not be changed in normal conditions of use. However, if the actuator is used in vertical orientation
and the slide resistance increases due to the affixing method, load condition, etc., homing may complete before the
correct position. In this case, the value set in Parameter No. 13 must be increased. (As a guide, the setting should not
exceed 75%.)
Current-limiting Value at Standstill after Positioning (No.12 SPOW)
Before shipment, this parameter is set to a current level appropriate for the standard specification of the actuator.
Increasing this parameter value increases the holding torque.
This parameter need not be changed in normal conditions of use. If the actuator receives large external force while
standing still, however, hunting will occur. In this case, the value set in Parameter No. 12 must be increased. (As a
guide, the setting should not exceed 50%.)
Setting it smaller may cause a servo error.
Caution: For the positioning band, set the value greater than that of the encoder resolution.