IAI RCM-P6AC, Instruction Manual

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3. Operation
Fieldbus Communication
92
RCP6S
12) Incremental········· Set to 1 for pitch feed (relative movement = incremental feed).
The value set for the position in 1) indicates the pitch feed distance.
With the value set to 0, positioning is defined to the position in 1) based
on the absolute coordinate system.
Caution: In the pitch feed, do not perform a command with a pitch smaller than the
minimum encoder resolution (lead/encoder pulse number) or that less
than positioning accuracy repeatability.
There would be no deviation to occur even with the command because it
is an operation command to the same position as the positioning complete
condition, but the positioning control cannot be performed properly.
When solenoid valve mode 2 is selected, set this to 0. Setting this to 1
causes the position data error to occur.
13)-
1
Transported Load······ Register 4 types of load weights with using the smart tuning, and
choose the number from the registered numbers (0 to 3) that is to
be used.
From the numbers (load weights) registered in this section, the
shortest tact time function calculates the optimum speed and
acceleration/deceleration.
[Refer to the instruction manual of smart tuning tool for how to
register the load weights and shortest tact time.]
Set Value Name
0
Transported Load Pattern No.0
1
Transported Load Pattern No.1
2
Transported Load Pattern No.2
3
Transported Load Pattern No.3
13)-
2
Gain Set ················· Six parameters required for servo gain adjustment are collected to
be a single set. 4 types of settings are able to be registered and the
servo gains can be switched over for each positioning operation. By
utilizing Smart Tuning Function
(Note 1)
in the PC software, the setting
close to the optimum can be obtained.
Note 1 Refer to Chapter 10.4 List of Specifications of
Connectable Actuators for the applicable models.
It may require the setting of the gain set dedicated for the
home-return operation in the case this function is used to
have the high-speed setting or the setting to apply a
transported weight more than the ratings.
For how to set up and the caution items, refer to the
instruction manual for RC PC Software.
[Parameters constructed in 1 set]
y
Servo Gain Number (Position Gain)
y
Position Feed Forward Gain
y
Speed Loop Proportional Gain
y
Speed Loop Integral Gain
y
Torque Filter Time Constant
y
Current Control Band Number
It is able to establish the gain set that corresponds to the position
number to be operated to the indicated gain set.
[Refer to “Servo Adjustment” in Section 8.3 for each gain parameter
details.]
Setting Parameter Set Select Parameter No.
0 Gain Set 0 7, 71, 31 to 33, 54
1 Gain Set 1 120 to 125
2 Gain Set 2 126 to 131
3 Gain Set 3 132 to 137
For RCM-P6AC
only
For RCP6S and
RCM-P6PC only
3.3
ME0349-4B