IAI America XSEL-KET User Manual
Page 375
356
INTELLIGENT ACTUATOR
Appendix
Driver Card Parameters
No. Parameter
name
Default value
(Reference)
Input
range
Unit Remarks
26 Configuration information 04:
For future extension
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:
Control characteristic word 2
0 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:
Rated load level adjustment
0H Reference
only
For adjustment by the manufacturer
37 Configuration information 15:
For future extension
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 extension (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 extension = Change
prohibited)
10
1 ~ 100
44 For future extension (Parameter
list 1)
0H Reference
only
For adjustment by the manufacturer
45 For future extension (Parameter
list 1)
0H Reference
only
For adjustment by the manufacturer
46 For future extension (Parameter
list 1)
0H Reference
only
For adjustment by the manufacturer
47 For future extension (Parameter
list 1)
0H Reference
only
For adjustment by the manufacturer
48 For future extension (Parameter
list 1)
0H Reference
only
For adjustment by the manufacturer
49 For future extension (Parameter
list 1)
0H Reference
only
For adjustment by the manufacturer
50 For future extension (Parameter
list 1)
0H Reference
only
For adjustment by the manufacturer
51 Reversing time (for encoder
adjustment)
0H Reference
only
SEC
For adjustment by the manufacturer
52 Self-propelling speed (for
encoder adjustment)
0H Reference
only
rpm
For adjustment by the manufacturer
53 Speed-loop gain (Parameter list
2)
500
1 ~ 32767
Proportional gain