IAI America SCON-CA - Manual (Page 233)

Chapter 8 I/O Parameter
223
[78] Force judgment margin + / - (Parameter No.95, No.96)
No. Name Symbol Unit Input Range
Default factory
setting
95 Force judgment margin + FJMM %
1 to Maximum
Pressing Force
In accordance with
actuator
96 Force judgment margin - FJML %
1 to Maximum
Pressing Force
In accordance with
actuator
This parameter defines the pressing force range in which the completion of pressing by
pressing operation using force sensor is assumed (to output PEND).
[Refer to 3.2.4 [4] 2) or 3.2.5 [3] 2) Pressing operation using force sensor.]
[79] Damping characteristic coefficient 1, 2 / Natural frequency / Notch filter gain
(Parameter No.97 to No.108)
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This parameter is exclusively used for vibration suppress control.
Name Parameter No.
Damping characteristic coefficient 1 97
Damping characteristic coefficient 2 98
Natural frequency 99
Parameter set 1
Notch filter gain 100
Damping characteristic coefficient 1 101
Damping characteristic coefficient 2 102
Natural frequency 103
Parameter set 2
Notch filter gain 104
Damping characteristic coefficient 1 105
Damping characteristic coefficient 2 106
Natural frequency 107
Parameter set 3
Notch filter gain 108
[Refer to Chapter 5 Vibration Suppress Control Function (Option) for details.]
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[80] Default vibration suppress No. (Parameter No.109)
This parameter is exclusively used for vibration suppress control.
[Refer to Chapter 5 Vibration Suppress Control Function (Option).]
[81] Stop method at servo OFF (Parameter No.110)
This parameter defines how to stop the actuator at issue of servo OFF command, emergency
stop or occurrence of an error (operation release level).
Set Value
0 1
Stop Command
In Anti-Vibration
Control
Process (Note 1)
In Normal
Position Control
Process
In Anti-Vibration
Control
Process (Note 1)
In Normal
Position Control
Process
Pause
Vibration Control
Deceleration
and Stop (Note 1)
Normal
Deceleration
and Stop
Servo OFF
Emergency Stop
Error
(Operation
Cancellation Level)
Sudden stop due to emergency
stop torque
Vibration Control
Deceleration
and Stop (Note 1)
Normal
Deceleration
and Stop
Error
(Cold Start)
Sudden stop due to emergency stop torque
Note 1 Anti-vibration control function is an optional item.