IAI America PSEL - Manual (Page 428)

418
Appendix
Driver parameters
No. Parameter name
Default value
(Reference)
Input range Unit Remarks
29 Motor/encoder characteristic word
(compatible with E, priority on E)
(configuration information)
0000H Reference
only
For adjustment by the manufacturer
30 Motor/encoder control word 1
(compatible with E, priority on E)
(configuration information) 5000 Reference
only
0.1 K (Kelvin =
temperature unit) For adjustment by the manufacturer
31 Motor/encoder control word 2
(compatible with E, priority on E)
(configuration information) 0000H Reference
only
For adjustment by the manufacturer
32 Motor/encoder control word 3
(configuration information)
(encoder cable length) [m] 2 Reference
only
Encoder cable length (m)
If the encoder has been replaced, don’t
forget to change the setting of this
parameter.
33 Motor/encoder control word 4
(configuration information) 14H Reference
only
For adjustment by the manufacturer
34 Motor/encoder control word 5
(configuration information) 0000H Reference
only
For adjustment by the manufacturer
35 (Configuration information) 0000H Reference
only
For adjustment by the manufacturer
36 (Configuration information) 0000H Reference
only
For adjustment by the manufacturer
37 (Configuration information) 0000H Reference
only
For adjustment by the manufacturer
38 Push torque limit at positioning 70 0 ~ 70 
39 Push torque limit at home return 40 0 ~ 100 
40 Maximum torque limit 100 10 ~ 100  * The maximum value that can be set varies
depending on the motor, etc.
41 Dynamic brake operation
specification
0 0 ~ 1 (Data for other model)
42 Software DB operation
specification 0 0 ~ 1 (Data for other model)
43 Speed loop proportional gain 300 1 ~ 32767 Proportional gain
44 Speed loop integral gain 4601 1 ~ 3276700 Integral gain
45 Torque filter time constant 0 0 ~ 2500
46 Current control band number 4 0 ~ 4
47 Current ON time for
excited-phase signal detection
step 10 0 ~ 32767 ms
48 Excited-phase signal detection
method
0 0 ~ 2 (Data for other model)
49 Excited-phase signal detection
direction
0 0 ~ 1 0: CW, 1: CCW
50 Excited-phase fixed mode:
Torque-limit switching type
1 0 ~ 1 0: Immediate, 1: Added for each cycle
51 Excited-phase fixed mode:
Torque limit
35 0 ~ 100 % Torque limit in the excited-phase fixed
mode
52 (For expansion) 0H 00000000H ~
FFFFFFFFH
53 Current control word 1 0H Reference
only
54 Current control word 2 0H Reference
only
55 Current control word 3 0H Reference
only
56 Current control word 4 0H Reference
only
57 Current control word 5 0H Reference
only
58 Current control word 6 0H Reference
only
59 Current control word 7 0H 00000000H ~
FFFFFFFFH
60 Current control word 8 0H 00000000H ~
FFFFFFFFH