IAI America ERC3 - Manual (Page 312)

Chapter 6
Adjustment of Operation
6.2 High Output Setting and Gain Scheduling Function
302
6.2.4 Setting in MEC Mode 1 to 3
Making the high output setting enable/disable is to be conducted in Parameter No.28.
The high output setting is set enable at the delivery.
With the setting of enable/disable for the high output setting, the parameters are switched over
between “Velocity Loop Proportional Gain” and “Velocity Loop Integrated Gain” to perform
controls.
Shown in the table below is the parameter numbers of “Velocity Loop Proportional Gain” and
“Velocity Loop Integrated Gain” to be enable by the setting conditions.
0 (Disable) Parameter No.5, 6 High output setting
(Parameter No.152) 1 (Enable = in Delivery) Parameter No.29, 30
Caution: Please note that the high output setting automatically turns disable if
Quick Teach equipped with a power supply unit (PCM-PST-1,
PCM-PST-2 or PCM-PST-EU) is connected.