IAI Rcon, Instruction Manual, Page: 510 / 838

6.1 Parameter
B6-3
ME0384-4A
St
ar
tu
p
Se
ct
io
n
Parameter list (3/5)
No. Name
Unit
(Note 1)
Input range
Default initial value
setting
Compatible
motor type
(Note 3)
Relevant
sections
P A D S
54 Current control width number － 0 to 15
In accordance with
actuator
(Note 2)
－ ○ ○ ○ B6-25
55 Position command primary
filter time constant
ms 0.0 to 100.0 0.0 ○ ○ ○ ○ B6-26
56 S-motion ratio setting % 0 to 100 0 ○ ○ ○ ○ B6-27
71 Position feed forward gain
－
0 to 100
0 ○ ○ － ○
B6-29
50 － － ○ －
73 Encoder voltage level － 0 to 3
Depending on encoder
cable length
－ － － ○ B6-30
76 Belt breaking sensor input
polarity
－ 0 to 2
In accordance with
actuator
(Note 2)
－ － － ○ B6-30
77 Lead size of ball screw
mm
(deg)
0.01 to 999.99
In accordance with
actuator (Note 2)
○ ○ ○ ○ B6-31
78 Axis motion type －
0: Linear axis
1: Rotary axis
In accordance with
actuator
(Note 2)
○ ○ ○ ○ B6-31
79 Rotary axis mode select －
0: Normal mode
1: Index mode
In accordance with
actuator
(Note 2)
○ ○ ○ ○ B6-32
80 Rotary axis shortcut select － 0: Disabled, 1: Enabled
In accordance with
actuator
(Note 2)
○ ○ ○ ○ B6-33
83 Absolute Unit
－
0: Not in use, 1: Used 0 (Note 4)
○ ○ － －
B6-33
88 Software
limit margin
mm 0 to 9,999.99 0 ○ ○ ○ ○ B6-34
89
Allowable time of exceeding
torque allowing continuous
pressing
sec 0 to 300
In accordance with
actuator (Note 2)
－ － － ○ B6-34
91
Current limit value during
contactless
push stop
－
0: Current limit value
during stop
1: Current limit value
during push
0 ○ ○ ○ ○ B6-35
97
Set 1
Vibr
ation d
am
ping
par
am
eter
s Damping characteristics
coefficient 1
－ 0 to 1,000 10 － ○ － ○
B6-35
98
Damping characteristics
coefficient 2
－ 0 to 1,000 1,000 － ○ － ○
99 Natural frequency 1/1,000Hz 500 to 30,000 10,000 － ○ － ○
100 Notch filter gain － 1 to 20,000 9,990 － ○ － ○
101
Set 2
Vibr
ation d
am
ping
par
am
eter
s Damping characteristics
coefficient 1
－ 0 to 1,000 10 － ○ － ○
102
Damping characteristics
coefficient 2
－ 0 to 1,000 1,000 － ○ － ○
103 Natural frequency 1/1,000Hz 500 to 30,000 10,000 － ○ － ○
104 Notch filter gain － 1 to 20,000 9,990 － ○ － ○
105
Set 3
Vibr
ation d
am
ping
par
am
eter
s Damping characteristics
coefficient 1
－ 0 to 1,000 10 － ○ － ○
106
Damping characteristics
coefficient 2
－ 0 to 1,000 1,000 － ○ － ○
107 Natural frequency 1/1,000Hz 500 to 30,000 10,000 － ○ － ○
108 Notch filter gain － 1 to 20,000 9,990 － ○ － ○
Note 1 The unit (deg) is applicable to the rotary actuator or lever-type gripper. It will be displayed as (mm) on the teaching tool.
Note 2 The setting values vary in accordance with the specification of the actuator. At shipping, the parameters are set in
accordance with the specification.
Note 3 P: Stepper motor specification, A: AC servo motor specification, D: DC brush-less motor specification, S: 200V AC servo
motor specification
Note 4 When using the simple absolute unit, change the parameter No. 83 to "1" and perform absolute reset before use.