IAI America PCON-CA - Manual (Page 201)

Chapter 7 I/O Parameter
POWER CON
PCON-CA/CFA
193
[87] Torque check/Light malfunction output select (Parameter No.156)
No. Name Symbol Unit Input Range
Default factory
setting
156 Torque check/Light malfunction
output select
SLAL –
0: Load judge
output or torque
level status signal
output
1: Output of battery
voltage drop
warning or
message-level
alarm
0
Load judge output (LOAD) or torque level status signal (TRQS) output can be changed to the
battery voltage drop warning (ALML) signal or an alarm (ALML) output that is message level.
[88] Selecting the Use of velocity loop proportional gain and velocity loop integrated gain.
Even though Velocity Loop Proportional Gain can be set to Parameter No.31, 145 and 153, and
Velocity Loop Integrated Gain to Parameter No.32, 146 and 154, the values to be effective
during an operation is just one of them. The following table shows which parameter number
becomes effective in each condition.
Effective Parameter Number
High Output Setting (Parameter No.152)
1 (Enable) 0 (Disable)
101 to
(Enable)
Parameter No.145, 146 Parameter No.145, 146
Gain Scheduling
(Parameter No.144) to 100
(Disable)
Parameter No.153, 154 Parameter No.31, 32
[89] FB half direct mode speed unit (Parameter No.159)
No. Name Symbol Unit Input Range
Default factory
setting
159 FB half direct mode speed unit FBVS
mm/s
(deg/s)
0: Units of 1mm/s
1: Units of 0.1mm/s
0
These parameters are exclusively used for the field network type.
[Check the applicable instruction manual number in Chapter 4 Field Network, and refer to each
instruction manual.]