IAI America MSCON User Manual
Page 83
3.3 Setting of Position Data
75
12) Incremental········· Set to 1 for pitch feed (relative movement = incremental feed).
The value set for the position in 1) indicates the pitch feed distance.
With the value set to 0, positioning is defined to the position in 1) based
on the absolute coordinate system.
Caution: In the pitch feed, do not perform a command with a pitch smaller than the
minimum encoder resolution (lead/encoder pulse number) or that less than
positioning accuracy repeatability.
There would be no deviation to occur even with the command because it is an
operation command to the same position as the positioning complete condition,
but the positioning control cannot be performed properly.
When solenoid valve mode 2 is selected, set this to 0. Setting this to 1 causes the
position data error to occur.
13) Gain set ·············· Six parameters required for servo gain adjustment are collected to be a
single set. 4 types of settings are able to be registered and the servo
gains can be switched over for each positioning operation. By utilizing
Smart Tuning Function
(Note)
in the PC software, the setting close to the
optimum can be obtained.
(Note) Refer to Chapter 9 Appendix Connectable Actuators for the
applicable models.
It may require the setting of the gain set dedicated for the
home-return operation in the case this function is used to have
the high-speed setting or the setting to apply a transported
weight more than the ratings.
For how to set up and the caution items, refer to the instruction
manual for RC PC Software.
[Parameters constructed in 1 set]
y
Servo Gain Number (Position Gain)
y
Position Feed Forward Gain
y
Speed Loop Proportional Gain
y
Speed Loop Integral Gain
y
Torque Filter Time Constant
y
Current Control Band Number
It is able to establish the gain set that corresponds to the position
number to be operated to the indicated gain set.
[Refer to “Servo Adjustment” in Section 7.3 for each gain parameter
details.]
Setting
Parameter Set Select
Parameter No.
0
Gain Set 0
7, 71, 31 to 33, 54
1
Gain Set 1
120 to 125
2
Gain Set 2
126 to 131
3
Gain Set 3
132 to 137
14) Stop mode ·········· Automatic servo OFF is enabled after a certain period from the
completion of positioning for power saving.
A proper period can be selected from three parameters.
Setting
Operation after Positioning
Complete
Parameter No.
0
Keep the servo ON
ʊ
1
Automatic servo-off in a
certain time
36
2
Automatic servo-off in a
certain time
37
3
Automatic servo-off in a
certain time
38