IAI PCON-CB series, Instruction Manual

Page: 199 / 336

Chapter 8 Parameter
POWER CON
PCON-CB/LC
185
[6] Default velocity (Parameter No.8)
No. Name Symbol Unit Input Range
Default factory
setting
8 Default velocity VCMD
mm/s
(deg/s)
1 to Actuator’s
max. verocity
Rated actuator
speed
The factory setting is the rated velocity of the actuator.
When a target position is set in an unregistered position table, the setting in this parameter is
automatically written in the applicable position number.
It is convenient to set the velocity often used.
[7] Default acceleration/deceleration (Parameter No.9)
No. Name Symbol Unit Input Range
Default factory
setting
9 Default acceleration/deceleration ACMD G
0.01 to actuator's
max. acceleration/
deceleration
Rated actuator's
acceleration/
deceleration
The factory setting is the rated acceleration/deceleration of the actuator.
When a target position is set in an unregistered position table, the setting in this parameter is
automatically written in the applicable position number.
It is convenient to set the acceleration/deceleration often used.
[8] Default positioning width (in-position) (Parameter No.10)
No. Name Symbol Unit Input Range
Default factory
setting
10 Default positioning width INP
mm
(deg) 0.01
(Note 1)
to 999.99 0.10
When a target position is set in an unregistered position table, the setting in this parameter is
automatically written in the applicable position number. When the remaining moving distance
enters into this width, the positioning complete signal PEND/INP is output.
It is convenient to set the positioning width often used.
Note 1 For RCP2, RCP3, RCP4, RCP5 Series actuators, it is down to the minimum positioning
width (L = Lead length/800 (encoder pulse value)).
[9] Current-limiting value at standstill during positioning (Parameter No.12)
No. Name Symbol Unit Input Range
Default factory
setting
12 Current-limiting value at standstill
during positioning
SPOW % 1 to 70
In accordance
with actuator
When the value is increased, the stop holding torque is increased.
Even though it is generally unnecessary to change this setting, setting the value larger is
necessary in the case a large external force is applied during stop. Please contact IAI.