IAI America ERC3 - Manual (Page 348)

Chapter 6
Adjustment of Operation
6.3 I/O Parameter
6.3.2 MEC Mode 1, MEC Mode 2 and MEC Mode 3
338
6.3.2 MEC Mode 1, MEC Mode 2 and MEC Mode 3
[1] I/O Parameter List
The categories in the table below indicate whether parameters should be set or not. There are
five categories as follows:
A : Check the settings before use.
B : Use parameters of this category depending on their uses.
C : Use parameters of this category with the settings at shipments leaving unchanged as a
rule. Normally they may not be set.
D : Parameters of the category are set at shipment in accordance with the specification of the
actuator. Normally they may not be set.
E : Parameters of the category are exclusively used by us for convenience of production.
Changing their settings may not only cause the actuator to operate improperly but also to
be damaged. So, never change the setting of the parameters.
Category do not appear on the teaching tool.
Also, the unused parameter numbers are not mentioned in the list.
[MEC Mode 1, MEC Mode 2 and MEC Mode 3]
No.
C
at
eg
or
y
Name Symbol Unit Input Range
Default factory
setting
For Mec
Mode 1
For Mec
Mode 2
For Mec
Mode 2
Relevant
sections
This section
1 B Positioning width INP mm
0.01 to Actuator
eigenvalue
In accordance with
actuator (Note1)
{
[2] (1)
3 C Servo gain No. PLG0 – 0 to 31
In accordance with
actuator (Note1)
{ { {
[2] (2)
[3]
4 C Torque filter time constant TRQF – 0 to 2500
In accordance with
actuator (Note1) { { {
[2] (3)
[3]
5 C Velocity loop proportional gain VLPG – 1 to 27661
In accordance with
actuator (Note1)
{ { {
[2] (4)
[3]
6 C Velocity loop integral gain VLPT – 1 to 217270
In accordance with
actuator (Note1)
{ { {
[2] (5)
[3]
7 C Press velocity PSHV mm/s 1 to actuator's max.
pressing speed
In accordance with
actuator (Note1)
{ {
[2] (6)
8 C Press & hold stop judgment period PSWT msec 0 to 9999 255 { { [2] (7)
9 B Current limitation in pressing and
bridging
PSFC –
0: Current limitation
value while moving
1: Push-motion
current-limiting value
0 { {
[2] (8)
10 B Auto servo motor OFF delay time ASO1 sec 1 to 9999 1 { { { [2] (9)
11 B Stop mode selection SMOD –
0: Full stop
1: Servo-motor stop
0 { { {
[2] (10)
12 B Current-limiting value at standstill
during positioning
SPOW % 1 to 70 35 { { {
[2] (11)
13 C Current-limiting value during home
return
ODPW % 1 to 100
In accordance with
actuator (Note1)
{ { {
[2] (12)
15 C Soft limit LIMM mm 0.01 to 9999.99 Actual stroke (Note1) { { { [2] (13)
16 C Home return offset level OFST mm 0.00 to 9999.99
In accordance with
actuator (Note1)
{ { {
[2] (14)
17 D Home return direction ORG –
0: Reverse
1: Forward
In accordance with
actuator (Note1) { { {
[2] (15)
18 B Simple absolute unit ETYP –
0: Incremental
1: Simple absolute
type 1
In accordance with
specification at
order accepted
{
[2] (16)
19 A
Absolute battery retention time
[0:20 days/1:15 days /2:10 days/3:5
days]
AIP days
0: 20 days
1: 5 days
2: 10 days
3: 5 days
2 {
[2] (17)
20 B Position data change password PASS – 0000 to 9999 0000 { { [2] (18)
25 B PIO inch distance IOID mm 0.01 to 1.00 0.1 { { { [2] (19)
Note 1 The setting values vary in accordance with the specification of the actuator. At shipment, the
parameters are set in accordance with the specification.
Note 2 This setting cannot be made for Quick Teach. This shows the effective parameters during an
operation.