IAI America SCON-CA - Manual (Page 8)

3.3.6 Parameter Settings Required for Advanced Operations ··································· 173
[1] Position command primary filter time constant·················································· 173
[2] Torque Limit ······································································································· 173
[3] Clearing deviation during servo OFF or alarm stop··········································· 173
[4] Error monitor during torque limiting ··································································· 174
[5] Deviation Counter Clear Input ··········································································· 174
[6] Torque limit command input ·········································································· 174
[7] Pulse count direction ························································································· 174
[8] Compulsory Stop Input ······················································································ 174
Chapter 4 Field Network ·······························································································175
Chapter 5 Vibration Suppress Control Function ···························································177
5.1 Setting Procedure ····································································································· 179
5.2 Settings of Parameters for Vibration Suppress Control············································ 180
[1] Damping characteristic coefficient 1,2
(Parameter No.97, 98, 101, 102, 105, and 106) Do not change. ············· 180
[2] Natural frequency [1/1000Hz] (Parameter No.99, 103 and 107)······················· 180
[3] Notch filter gain (Parameter No.100, 104 and 108)··········································· 180
[4] Default vibration suppress No. (Parameter No.109) ········································· 181
[5] Stop method at servo OFF (Parameter No.110) ··············································· 181
5.3 Setting of Position Data ···························································································· 181
Chapter 6 Power-saving Function (Auto Servo-motor OFF Function)··························183
Chapter 7 Absolute Reset and Absolute Battery ··························································185
7.1 Absolute Reset·········································································································· 185
[1] Absolute reset procedure from teaching tool····················································· 185
[2] Absolute reset using PIO··················································································· 188
7.2 Absolute Battery········································································································ 189
7.2.1 Absolute encoder backup specifications ··························································· 189
7.2.2 Replacement of absolute battery······································································· 191
Chapter 8 I/O Parameter ······························································································193
8.1 I/O Parameter List·····································································································194
8.2 Detail Explanation of Parameters ············································································· 199
8.3 Servo Adjustment······································································································ 234
Chapter 9 Troubleshooting ···························································································237
9.1 Action to Be Taken upon Occurrence of Problem····················································· 237
9.2 Fault Diagnosis ········································································································· 238
9.2.1 Impossible operation of controller······································································ 238
9.2.2 Positioning and speed of poor precision (incorrect operation) ·························· 241
9.2.3 Generation of noise and/or vibration ································································· 243
9.2.4 Impossible Communication ··············································································· 244
9.3 Alarm Level ··············································································································· 245
9.4 Alarm List ·················································································································· 246