IAI America ERC3 - Manual (Page 268)

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)
258
(4) Error monitor during torque limiting
No. Name Symbol Unit
Input
Range
Initial
Value
59 Error monitor during torque limiting FSTP – 0 to 1 0
Selection can be made whether to enable/disable the motoring of the deviation during torque
limiting (condition of TL signal being ON).
If it is set enabled, error can be issued when the deviation exceeds the specified value while in
torque limiting.
0: Disable
1: Enable
(5) Deviation Counter Clear Input
No. Name Symbol Unit
Input
Range
Initial
Value
60 Deviation Counter Clear Input FPIO – 0 to 1 0
Selection can be made whether to enable/disable the deviation counter clear signal DCLR.
0: Enable
1: Disable
(6) Torque limit command input
No. Name Symbol Unit
Input
Range
Initial
Value
61 Torque limit command input FPIO – 0 to 1 0
Torque control of the motor with the value set in Parameter No.57 Torque Control Value can be
performed with PIO (TL Signal ON) from the host system. In this parameter, a choice can be
made from using (activated) TL Signal (Torque Limiting Signal) and not using (deactivated) the
signal.
If selected to be invalid, TL Signal (torque limit signal) becomes invalid.
0: Enable
1: Disable
(7) Pulse count direction
No. Name Symbol Unit
Input
Range
Initial
Value
62 Pulse count direction FPIO – 0 to 1
Set
individually
You can set the direction in which the motor turns according to command pulses.
0: Forward rotation
1: Reverse rotation