IAI RoboNet, Operation Manual

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Part 1 Specification
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Excited Phase Signal Detection Time (No. 29, PDIR2)
The excited phase is detected when the servo is turned ON for the first time after turning on the power. This parameter defines
the time of this detection (excitation switching period).
Before shipment, this parameter has been set to a detection time appropriate for the standard specification of the actuator,
and thus the setting need not be changed in normal conditions of use.
Should an excitation detection error or abnormal operation occur when the servo is turned ON for the first time after turning on
the power, you can try changing the detection time set in parameter No. 29 as a possible countermeasure.
Before changing this parameter, contact IAI.
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Pole Sensing Type (No. 30, PDIR3) <Effective only on the RACON>
The excited phase is detected when the servo is turned ON for the first time after turning on the power. Parameter No. 30
defines the mode of this operation.
This parameter need not be changed in normal conditions of use, so the customer is advised not to change the setting.
Definition of settings:
0 (Current suppression mode)
1 (Distance suppression mode)
The factory setting is “1 [Distance suppression mode].”
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Safety Speed (No. 35, SAFV)
This parameter defines the feed speed in manual operation.
Before shipment, this parameter has been set individually in accordance with the actuator characteristics.
To change the speed, set an optimal value in parameter No. 35.
Since the maximum speed is limited to “250” [mm/sec], set the safety speed to below this level.
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Default Acceleration/Deceleration Mode (No. 52, HSTP1) <Effective only on the RACON>
This value is treated as the data in the “Acceleration/deceleration mode” field corresponding to the applicable position number
when a target position has been written to the unregistered position table.
The factory setting is “0 [Trapezoid pattern].”
To change the default acceleration/deceleration pattern, set the value of parameter No. 52 as follows.
Setting value
Trapezoid pattern 0
S-motion 1
Primary delay filter
2