IAI RCM-P6AC, Instruction Manual

Page: 200 / 286

8. Parameter
Fieldbus Communication
188
RCP6S
Parameter List (3/5)
Applicable
Controller
(Note 3)
No.
C
at
eg
or
y
Name Symbol Unit
(Note 1)
Input Range
Default factory
setting
A P D
Relevant
sections
0 to 3 ○
(Note 4)
△
○
53 B Default Stop Mode HSTP -
0 to 7
0 (Not applicable)
-
(Note 4)
△
-
8.2 [36]
6.1.2
54 C Current Control Width
Number
CTLF - 0 to 15
In accordance
with actuator
(Note 2)
○
- ○ 8.2 [37]
55 B
Position Command Primary
Filter Time Constant
PLPF msec 0.0 to 100.0 0.0 ○ ○ ○
8.2 [38]
8.3
56 B S-motion Rate SCRV % 0 to 100 0 ○ ○ ○ 8.2 [39]
0 ○ ○ -
71 B Position Feed Forward Gain PLFG - 0 to 100
50 - - ○
8.2 [40]
8.3
77 D Ball Screw Lead Length LEAD
mm
[deg]
0.01 to 999.99
In accordance
with actuator
(Note 2)
○
○ ○ 8.2 [41]
78 D Axis Operation Type ATYP -
0: Linear axis
1: Rotary axis
In accordance
with actuator
(Note 2)
○
○ ○ 8.2 [42]
79 B Rotary Axis Mode Selection ATYP -
0: Normal mode
1: Index mode
In accordance
with actuator
(Note 2)
○
○ ○ 8.2 [43]
80 B
Rotational Axis Shortcut
Selection
ATYP -
0: Disabled
1: Enabled
In accordance
with actuator
(Note 2)
○
○ ○ 8.2 [44]
83 B Absolute unit ETYP -
0: Not used
1: Used
In accordance
with
specification at
order accepted
○ ○ - 8.2 [45]
88 D Software Limit Margin SLMA mm 0 to 9999.99 0 ○ ○ ○ 8.2 [46]
91 C
Current Limit Value at
Stopping Due to
Miss-pressing
PSFC -
0: Current limiting
value at stop
1: Current limit
value during
pressing
0 ○ ○ ○ 8.2 [47]
97 C
Damping
Characteristic
Coefficient 1
DC11 - 0 to 1000 10 ○ - -
98 C
Damping
Characteristic
Coefficient 2
DC21 - 0 to 1000 1000 ○ - -
99 B Natural Frequency NP01 1/1000Hz 500 to 30000 10000 ○ - -
100 C
Vi
bration suppre
ss
paramete
r set 1
Notch Filter Gain NFG1 - 1 to 20000 9990 ○ - -
101 C
Damping
Characteristic
Coefficient 1
DC12 - 0 to 1000 10 ○ - -
102 C
Damping
Characteristic
Coefficient 2
DC22 - 0 to 1000 1000 ○ - -
103 B Natural Frequency NP02 1/1000Hz 500 to 30000 10000 ○ - -
104 C
Vi
bration suppre
ss
paramete
r set 2
Notch Filter Gain NFG2 - 1 to 20000 9990 ○ - -
105 C
Damping
Characteristic
Coefficient 1
DC11 - 0 to 1000 10 ○ - -
106 C
Damping
Characteristic
Coefficient 2
DC21 - 0 to 1000 1000 ○ - -
107 B Natural Frequency NP03 1/1000Hz 500 to 30000 10000 ○ - -
108 C
Vi
bration suppre
ss
paramete
r set 3
Notch Filter Gain NFG3 - 1 to 20000 9990 ○ - -
8.2 [48]
4.2
109 B Default Vibration Suppress
No.
CTLF - 0 to 3 0 ○ - - 8.2 [49]
Note 1 The unit [deg] is for rotary actuator and lever type gripper. It is displayed in [mm] in the teaching tools.
Note 2 The setting values vary in accordance with the specification of the actuator. At shipment, the
parameters are set in accordance with the specification.
Note 3 A: RCM-P6AC, P: RCP6S and RCM-P6PC, D: RCM-P6DC
Note 4 Selection is available from 0 to 3 for RCP6S. Selection is available from 0 to 7 for
RCM-P6PC. However, selection should be made from 0 to 3 in case an actuator equipped
with the high-resolution battery-less absolute encoder is connected.
ME0349-4B