IAI America PDR-101-MW - Manual (Page 49)

39
Type No. Name Symbol
Default value
(reference)
Unit Input range Description
8
Speed command
value at homing
OVCM [A] pulse/sec 1~819200 Moving speed at homing
9
Acceleration
command value at
homing
OACC [A] pulse/sec 2
1,000~
19267584
Moving acceleration at homing
10
Creep sensor
approach speed
VCRP [A] pulse/sec
Reference
only
To be adjusted by the manufacturer
11
Current limit value
at homing
OCLM [A] (multiplier)
Reference
only
To be adjusted by the manufacturer
12
Timeout value at
homing
OTIM 180,000 msec
Reference
only
To be adjusted by the manufacturer
13
Offset amount at
homing
OFST [A] pulse
1~
134217727
Amount of offset at homing, after the homing
command signal is detected
14
Homing deviation
pulse
OPLS [A] pulse
1~
134217727
Detected amount of mechanical end push
deviation at homing
15
Position control
system
proportional gain
PLPG 20
rad/
sec
1~200
Proportional gain of position control loop
16
Position-comman
d primary filter
time constant
PLPF 0.0 msec 0.0~100.0
Constant at S-shaped acceleration/deceleration
17
Position
feed-forward gain
PLFG 0 0~100
Feed-forward gain of the position control
system
18
Jog acceleration
default value
ACC [A] pulse/sec 2
1000~
19267584
Default acceleration value at jog operation with
the PC software
19
Jog deceleration
default value
DEC [A] pulse/sec 2
1000~
19267584
Default deceleration value at jog operation with
the PC software
20
Jog speed default
value
VEL [A] pulse/sec 1~1092266
Default speed value at jog operation with the
PC software
21
Maximum speed
at incomplete
homing
SVEL [A] pulse/sec 1~819200
Default limit speed at jog operation with the PC
software, before homing
22
Maximum
acceleration value
ACMX [A] pulse/sec 2
1000~
19267584
Acceleration limit value of the actuator
23
Maximum
deceleration value
DCMX [A] pulse/sec 2
1000~
19267584
Deceleration limit value of the actuator
24
Soft limit actual
position margin
SLMR [A] pulse
1~
134217727
Amount of movement compared to the actual
stroke at which soft limit over error is detected
25 Internal stop pulse IINP [A] pulse
Reference
only
To be adjusted by the manufacturer
HEX input
value
Command pulse-train mode
00 Phase A/B pulse train Positive logic
01 Pulse-train + sign Positive logic
02 Forward/reverse pulse train Positive logic
10 Phase A/B pulse train Negative logic
11 Pulse-train + sign Negative logic
Posit
ion control
information
26
FBP mode
Feedback pulse
output mode
FBPT 01h
(HEX
input)
00~12h
12 Forward/reverse pulse train Negative logic
1 Speed loop gain VLPG [A] 10~10000 Gain of the speed control loop
2
Speed loop
integration time
constant
VLPT [A] msec 0~1000
Integration time constant of the speed control
loop
3
Torque filter time
constant
TRQF [A] msec
0.00~
327.67
Filter time constant with respect to torque
command
4
Disturbance
observer time
constant
DOBT 0.00 msec
Reference
only
To be adjusted by the manufacturer
5
Current control
bandwidth
CLPF [A] 500~32767
Control bandwidth of the current control system
S
peed/current c
ontrol
in
formati
on
6 Torque limit value TQLM 0.7 (multiplier) 0.01~0.70
Torque amplification when the torque limit
selection signal (TL) is turned on