IAI America XSEL-KE User Manual
Page 363
348
Appendix
Driver Card Parameters
No. Parameter
name
Default value
(Reference)
Input
range
Unit Remarks
25 Configuration
information
03:
Motor/encoder configuration
information
0000H Reference
only
Motor/encoder
ID bit number
For adjustment by the manufacturer
26 Configuration
information
04:
For future expansion
0000H Reference
only
For adjustment by the manufacturer
27 Configuration
information
05:
Encoder resolution (upper
word)
0002H Reference
only
For adjustment by the manufacturer
28 Configuration
information
06:
Encoder resolution (lower word)
0000H Reference
only
For adjustment by the manufacturer
29 Configuration
information
07:
Motor/encoder characteristics
word
0004H Reference
only
For adjustment by the manufacturer
30 Configuration
information
08:
Encoder cable length
2
1 ~ 30
m
Be sure to change this parameter
when retrofitting.
31 Configuration
information
09:
Control characteristics word
0018H Reference
only
For adjustment by the manufacturer
32 Configuration
information
10:
Push torque limit at home
return
100
0 ~ 150
%
When changing this parameter,
always check for phase-Z detection
position shift due to change in the
elastic deformation amount of the
pushed mechanical end.
33 Configuration
information
11:
Push torque limit at positioning
70
0 ~ 70
%
34 Configuration
information
12:
For future expansion
0H Reference
only
For adjustment by the manufacturer
35 Configuration
information
13:
Speed-command underrun
count
0 Reference
only
For adjustment by the manufacturer
36 Configuration
information
14:
For future expansion
0H Reference
only
For adjustment by the manufacturer
37 Configuration
information
15:
For future expansion
0H Reference
only
For adjustment by the manufacturer
38 Speed-loop gain (Parameter list
1)
500
1 ~ 32767
Proportional gain
39 Speed-loop
integral
constant
(Parameter list 1)
30
1 ~ 1000
Integral gain
40 Current-loop control range
number (Parameter list 1)
4
0 ~ 4
41 For future expansion
(Parameter list 1)
0H Reference
only
For adjustment by the manufacturer
42 Torque filter constant
(Parameter list 1)
0
0 ~ 2500
43 Rotor inertia ratio (Parameter
list 1)
(For future expansion = Change
prohibited)
10
1 ~ 100
44 For future expansion
(Parameter list 1)
0H Reference
only
For adjustment by the manufacturer
45 For future expansion
(Parameter list 1)
0H Reference
only
For adjustment by the manufacturer
46 For future expansion
(Parameter list 1)
0H Reference
only
For adjustment by the manufacturer
47 For future expansion
(Parameter list 1)
0H Reference
only
For adjustment by the manufacturer
48 For future expansion
(Parameter list 1)
0H Reference
only
For adjustment by the manufacturer
49 For future expansion
(Parameter list 1)
0H Reference
only
For adjustment by the manufacturer