IAI America MSCON - Manual (Page 281)

Chapter 7 Parameter
273
[56] Damping characteristic coefficient 1, 2 / Natural frequency / Notch filter gain
(Parameter No.97 to No.108)
This parameter is exclusively used for vibration suppress control.
Name Parameter No.
Damping characteristic coefficient 1 97
Damping characteristic coefficient 2 98
Natural frequency 99
Parameter set 1
Notch filter gain 100
Damping characteristic coefficient 1 101
Damping characteristic coefficient 2 102
Natural frequency 103
Parameter set 2
Notch filter gain 104
Damping characteristic coefficient 1 105
Damping characteristic coefficient 2 106
Natural frequency 107
Parameter set 3
Notch filter gain 108
[Refer to Chapter 4 Vibration Suppress Control Function (Option) for details.]
[57] Default vibration suppress No. (Parameter No.109)
This parameter is exclusively used for vibration suppress control.
[Refer to Chapter 4 Vibration Suppress Control Function (Option) for details.]
[58] Stop method at servo OFF (Parameter No.110)
This parameter defines how to stop the actuator at issue of servo OFF command, emergency
stop or occurrence of an error (operation release level).
Set Value
0 1
Stop Command
In Anti-Vibration
Control Process
In Normal
Position Control
Process
In Anti-Vibration
Control Process
In Normal
Position Control
Process
Pause
Vibration Control
Deceleration and
Stop
Normal
Deceleration and
Stop
Servo OFF
Emergency Stop
Error (Operation
Cancellation Level)
Sudden stop due to emergency
stop torque
Vibration Control
Deceleration and
Stop
Normal
Deceleration and
Stop
Error (Cold Start) Sudden stop due to emergency stop torque