IAI America ERC3 - Manual (Page 258)

Chapter 4 Operation
4.3
O
per
at
io
n
in
P
ul
se
T
rai
n
Co
nt
ro
l M
od
e
(Ho
w
to
O
per
at
e
Pulse
Train Control
Type)
248
EMG
Servo
T 26ms
Lock
Release
PEND
Brake Excitation
T (before detecting excitation) = SON signal identification (6ms) + Excitation detection time (T1
+ T2) × Number of retry (10 times Max.) + Servo ON delay
time (T3)
T (after detecting excitation) = SON signal identification (6ms) + Servo ON delay time (T3)
T1 : Parameter No.30 It differs depending on the setting of excitation detection type.
Set Value = 0 ĺ 160ms
Set Value = 1, 2 ĺ 220ms
T2 : Parameter No.29 Setting of excitation phase signal detection time
It is set to 10ms in the initial setting.
T3 : Fixed to 20ms
(Note) Excitation detection operation of the motor is conducted at the first servo-on after the
power is turned ON.