IAI America SSEL - Manual (Page 440)

418
Appendix
Driver parameters
No. Parameter name
Default value
(Reference)
Input range Unit Remarks
29 Motor/encoder characteristic word
(compatible with E, priority on E)
(configuration information) 0004H Reference only For adjustment by the manufacturer
30 Motor/encoder control word 1
(compatible with E, priority on E)
(configuration information) 5000 Reference only For adjustment by the manufacturer
31 Motor/encoder control word 2
(compatible with E, priority on E)
(configuration information) 0000H Reference only For adjustment by the manufacturer
32 Motor/encoder control word 3
(configuration information)
(Encoder cable length) [m] 2 Reference only For adjustment by the manufacturer
33 Motor/encoder control word 4
(configuration information) 14H Reference only For adjustment by the manufacturer
34 Motor/encoder control word 5
(configuration information) 0000H Reference only For adjustment by the manufacturer
35 (Configuration information) 0000H Reference only For adjustment by the manufacturer
36 (Configuration information) 0000H Reference only For adjustment by the manufacturer
37 Maximum push torque limit during
positioning 70 70 ~ 200 (Main application version 0.17 or later)
38 Push torque limit during positioning 70 0 ~ 200
39 Push torque limit during home return 100 0 ~ 150
40 Maximum torque limit 300 10 ~ 400 * The maximum value that can be set
varies depending on the motor, etc.
41 Dynamic brake operation
specification 0 0 ~ 1 0: Enable, 1: Disable
42 Software DB operation specification 1 0 ~ 1 0: Disable, 1: Enable
43 Speed loop proportional gain 500 1 ~ 32767 Proportional gain
44 Speed loop integral gain 1667 1 ~ 3276700 Integral gain
45 Torque filter time constant 0 0 ~ 2500
46 Current control band number 4 0 ~ 4
47 ~
51
For future expansion 0H 0000H ~ FFFFH
52 (For expansion) 0H 0000H ~ FFFFH
53 Current control word 1 0H Reference only For adjustment by the manufacturer
54 Current control word 2 0H Reference only For adjustment by the manufacturer
55 Current control word 3 0H Reference only For adjustment by the manufacturer
56 Current control word 4 0H Reference only For adjustment by the manufacturer
57 Current control word 5 0H Reference only For adjustment by the manufacturer
58 Current control word 6 0H Reference only For adjustment by the manufacturer
59 Current control word 7 0H 0000H ~ FFFFH Bits 0 to 15: Reserved bits
60 Current control word 8 0H 0000H ~ FFFFH Bits 0 to 15: Reserved bits