IAI R-unit RSEL, Instruction Manual, Page: 606 / 844

Chapter 10 Parameter
10.3 Parameter List (Driver Unit)
10-74
ME0392-4C
[BU Velocity Loop Integral Gain (Parameter No. 154)]
No. Name Unit Input range Default initial value setting
154 BU velocity loop integral
gain
－ 1 to 99,999,999 In accordance with actuator
When Parameter No. 152 “High Output Setting” is enabled and Parameter No. 144 “GS
Magnification Upper Limit” is set to 100 or less, the setting of this parameter is enabled for
Velocity Loop Integral Gain.
For details, refer to Parameter No. 32 “Velocity Loop Integral Gain (page 10-60”.
For the conditions for using this item, refer to [Selection and use of Velocity Loop Proportional
Gain and Velocity Loop Integral Gain] on the bottom of page 10-60.
[ABS Battery Retaining Time (Parameter No. 155)]
No. Name Unit Input range Default initial value setting
155 ABS battery retaining time －
0: 20 days
1: 15 days
2: 10 days
3: 5 days
0
This function is limited to the simple absolute specification. Set encoder positional data retention
time after turning the power supply to the actuator OFF. The setting is available in 4 levels. The
lower the motor rotation speed setting is, the longer the retention time of the positional data can
be. If there is a possibility of external force moving the workpiece conveying components of the
actuator such as the slider or rod while power is OFF, refer to the following table and calculate
motor revolution based on movement speed and set the value of this parameter faster. If the
motor revolution exceeds the set value, positional data will be lost.
The motor rotation speed can be calculated with the equation below.
Motor revolution [r/min] = Movement speed [mm/s] / Actuator lead [mm] x 60 [s/min]
For details, refer to [3.7.4 General Specifications (page 3-119)].
Parameter
No.155
settings
Upper limit of encoder rotation speed when
power is OFF [r/min]
Battery
retaining
time
guideline
[days]
Retaining time
per 1 hour of
charge time
(guideline)
[h]
If connected actuator
is not RCA2-***NA
If connected actuator
is RCA2-***NA
0 100 75 20 6.6
1 200 150 15 5.0
2 400 300 10 3.3
3 800 600 5 1.6
24V AC servo motor specification and
stepper motor specification only
Stepper motor specification only