IAI MSEL, Instruction Manual, Page: 136 / 234

Chapter 5 I/O Parameter
128
Driver Card Parameters
No. Parameter name
Default value
(Reference)
Input range Unit Remarks
30
Configuration information 08:
System reservation
0000H 0000H ~ FFFFH
31
Configuration information 09:
Control characteristics word
1400H 0000H ~ FFFFH
32
Configuration information 10:
Push torque limit at home
return
40 0 ~ 100 %
33
Configuration information 11:
Push torque limit at positioning
70 0 ~ 70 %
34
Configuration information 12:
Control characteristic word 2
B00H 0000H ~ FFFFH
Bits 0 to 7: System reservation
Bit 8: Initial moving direction in excitation-phase
signal detection operation
(0: CW, 1: CCW)
Bit 9: Stop mode selection
(0: Full servo mode, 1: Complete stop mode)
* In the case of coating or other application where
operation focus is given to the locus, select “0” (Full servo
mode). (In this case, the complete stop function is
disabled.)
In all other applications, “1” (complete stop mode) is
normally selected.
Bit 10: System reservation
Bit 11: System reservation
Bit 12: System reservation
35
Configuration information 13:
System reservation
0H 0000H ~ FFFFH
36
Configuration information 14:
Rated load level adjustment
0 -32768 ~ 32767
0.1 K
(Kelvin =
temperature)
37
Configuration information 15:
Current limitation at positioning
stop
70 0 ~ 100 %
38 System reservation 0H 0000H ~ FFFFH
39 System reservation 0H 0000H ~ FFFFH
40 System reservation 0H 0000H ~ FFFFH
41
High-output pattern table
select
0 0 ~ 1
42 Torque filter constant 0 0 ~ 2500
43
System reservation
Complete stop characteristics
of the word
(High resolution) 0H
8001H
(High
resolution)
0000H ~ FFFFH
(Note) Following is for high resolution encoder
Bit 15:
Fine Current Response Realizing Feature
(0: Disable, 1: Enable)
Bit 14 to 8: Damped Frequency
Unit: 100 [ms]
Bit 7 to 0: Electrical Angle Feed
Unit: 1/4096 [eAgl]
44
Speed loop proportional gain
(upper word)
0H 0000H ~ 0000H
45
Speed loop proportional gain
(lower word)
12CH 0000H ~ 7350H
46
Speed loop integral gain
(upper word)
0H 0000H ~ 0004H
47
Speed loop integral gain
(lower word)
11F9H 0000H ~ FFFFH
48 System reservation 0H 0000H ~ FFFFH
49
Sine wave drive design output
multiplying factor
0 0 ~ 1000 %
50 Drive transition judgment time 0 0 ~ 2000 0.05ms
51
Discretization error
compensation ratio
2000 0 ~ 65535 0.1%
52
High-Output discretization
error compensation ratio
2000 0 ~ 65535 0.1%
53 System reservation 0H 0000H ~ FFFFH
54 System reservation 0H 0000H ~ FFFFH
55 System reservation 0H 0000H ~ FFFFH
56 System reservation 0H 0000H ~ FFFFH
57 System reservation 0H 0000H ~ FFFFH
58 System reservation 0H 0000H ~ FFFFH
59 System reservation 0H 0000H ~ FFFFH
60 System reservation 0H 0000H ~ FFFFH
61 System reservation 0H 0000H ~ FFFFH
62 System reservation 0H 0000H ~ FFFFH
63 System reservation 0H 0000H ~ FFFFH
64 System reservation 0H 0000H ~ FFFFH