IAI America ERC3 - Manual (Page 354)

Chapter 6
Adjustment of Operation
6.3 I/O Parameter
6.3.2 MEC Mode 1, MEC Mode 2 and MEC Mode 3
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(13) Soft limit (Parameter No.15)
No. Name Symbol Unit Input Range Default factory setting
15 Soft limit LIMM mm 0.01 to 9999.99 Actual stroke
Actuator enable stroke is set at the delivery.
Adjustment can be made freely within the movable range considering the suitability to the
system for purposes of avoidance to interference, crash, etc.
The minimum setting unit is 0.01mm.
Example) Assuming the effective stroke length is set to 80mm;
Note that the operational range with jog or inching after home-return complete should be
0.1mm outside the setting value. Also, Alarm Code 0D9 “Soft Limit Exceeding Error” is issued
when exceeded the setting value by 0.3mm.
(14) Home return offset level (Parameter No.16)
No. Name Symbol Unit Input Range Default factory setting
16 Home return offset level OFST mm 0.00 to 9999.99
In accordance with
actuator
In this setting can set the distance from the mechanical end to the home position.
An adjustment is available for the following cases.
1) Want to match the actuator home position and the mechanical origin of the system.
2) Want to set a new home after reversing the factory-set home direction.
3) Want to eliminate a slight deviation from the previous home position generated after
replacing the actuator.
[Adjustment Process]
1) Homing execution
2) Offset check
3) Parameter setting change
4) After the setting, repeat home return several times to confirm that the actuator always
returns to the same home position.
Caution :
x Soft limit takes the home position as the datum. Therefore, when a change is made to the
value of home-return offset level, also revise the value for soft limit.
x If the home return offset has been changed, the soft limit parameters must also be
adjusted accordingly.
Do not set a smaller value than the initial setting value for Home Return Offset. Normal
excitation detection cannot be performed, and there may be a risk of generating the
excitation detection error or causing abnormal noise.
In case the there is a necessity of setting a value less than the initial setting, contact IAI.
0 80
Effective stroke
Soft limits set in the parameter
0.1m
0.1m
Allowable jogging/inching range after home return