IAI America PDR-101-MW User Manual
Page 69
59
(25) Maximum Deceleration Value
Name Symbol Unit Input
range
Default value
(reference)
Maximum deceleration
value
ACMX pulse/sec
2
1000~19267584 [A]
Set the deceleration limit value of the actuator.
An appropriate value corresponding to the applicable actuator has been set at shipment from the factory.
Calculation formula of the setting value (pulse/sec
2
) of deceleration (G)
The setting value of the deceleration is converted from G to pulse/sec
2
using the following formulae:
In the case of linear axis:
(mm/rev)
length
lead
screw
Ball
)
(pulse/rev
pulses
encoder
of
Number
x
9800
x
(G)
on
Decelerati
)
pulse/sec
(
value
Setting
2
=
In the case of rotational axis:
rate
reduction
gear
axis
Rotational
x
(deg/rev)
360
)
(pulse/rev
pulses
encoder
of
Number
x
9800
x
(G)
on
Decelerati
)
pulse/sec
(
value
Setting
2
=
z
The setting value of this item indicates pulses of the encoder, and is independent of the electronic
gear setting. The number of pulses of the encoder varies depending on the type of actuator. See (8),
“Number of Encoder Pulses.”
(26) Soft Limit Actual Position Margin
Name Symbol Unit Input
range
Default value
(reference)
Soft limit actual position
margin
SLMR pulse
1~134217727
[A]
Set the amount of movement at which a soft limit over error is detected by the actuator.
An appropriate value corresponding to the applicable actuator has been set at shipment from the factory.
If the amount of movement exceeds this setting value, which is relative to the amount of actual stroke set in
(4), “Software Stroke Limit,” a soft limit over error (error code: C74) is generated and operation is cancelled.
This parameter is enabled when the homing command (ORGC) signal, which is an I/O signal, is input or
homing by the PC software is completed (after ORGR is output).
Caution