IAI America ERC3 - Manual (Page 275)

Chapter 4 Operation
4.4 Operation in MEC Mode 1 and 2 (Operation with PLC)
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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.36 It differs depending on the setting of excitation detection type.
Set Value = 0 ĺ 160ms
Set Value = 1, 2 ĺ 220ms
T2 : Parameter No.35 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.
• PEND would not turn ON if the pause signal *STP is OFF.
EMG or
EMG(-)
Servo
ON
Brake
Excitation
Lock
Release
T 26ms