IAI America CON-PGA - Manual (Page 221)

7. Operation of MEC Related Controllers
213
[1] Types of parameter editing
For details on each parameter, refer to the operation manual for your PMEC/AMEC controller and ERC3
(MEC mode).
(Positioning band)
Set the positioning band.
(Jog speed)
Set the speed of jog operation.
(Servo gain number)
Set the servo gain number that determines the response of position control loops in servo control.
(Torque filter constant)
Set the torque filter time constant that determines the filter time constant for torque commands in servo
control.
(Speed loop proportional gain)
Set the speed loop proportional gain that determines the response of speed control loops in servo control.
(Speed loop integral gain)
Set the speed loop integral gain that determines the response of speed control loops in servo control.
(Push speed)
Set the speed of push-motion operation.
(Push recognition time)
Set the push recognition time to recognize completion of operation after the work part was contacted in
push-motion operation.
(Pushing fails current)
Set whether to use the push current or stop current as the current limiting value when the work part was
missed in push-motion operation.
For AMEC, if the stop current is selected when the work part was missed in push-motion operation, the
torque limit at the travel current limiting value is set.
(Auto servo OFF delay time)
Set the time until the auto motor power (auto servo) turns off automatically when the ecology function is
enabled.
(Stop mode) Displayed for PMEC, ERC3 (MEC mode) controllers
Set whether to implement servo stop based on the full servo control method or complete stop without servo
control when the actuator stops.
(Note) When this parameter is changed, the new setting will not be reflected until the position data is
written to the controller again.
(Current limiting value while stopped after positioning) Displayed for PMEC, ERC3 (MEC mode) controller
Set the current limiting value to be applied while the actuator is stopped after positioning.
(Current limiting value during home return)
Set the current limiting value to be applied during home return operation.
(Position execution wait time during continuous operation)
This parameter is not used with PMEC, AMEC and ERC3 (MEC mode) controllers.