IAI MCON-C, Инструкция по эксплуатации

Страница: 294 / 480

284
8.1 Parameter List
Each axis number has the following parameter table. Have the setting and checking on each
axis number.
The categories in the table below indicate whether parameters should be set or not. There are
five categories as follows:
A : Check the settings before use.
B : Use parameters of this category depending on their uses.
C : Use parameters of this category with the settings at shipments leaving unchanged as a
rule. Normally they may not be set.
D : Parameters of the category are set at shipment in accordance with the specification of
the actuator. Normally they may not be set.
E : Parameters of the category are exclusively used by us for convenience of production.
Changing their settings may not only cause the actuator to operate improperly but also to
be damaged. So, never change the setting of the parameters.
Category do not appear on the teaching tool.
Also, the unused parameter numbers are not mentioned in the list.
Parameter List (1/5)
Applicable
Motor Type
(Note 3)
No.
C
at
eg
or
y
Name Symbol Unit
(Note 1)
Input Range
Default factory
setting
A P D
Relevant
sections
1 B Zone Boundary 1 Positive
Side
ZONM
mm
[deg]
-9999.99 to
9999.99
Actual stroke on
positive side
(Note 2)
○
○ ○
2 B Zone Boundary 1 Negative
Side
ZONL
mm
[deg]
-9999.99 to
9999.99
Actual stroke on
negative side
(Note 2)
○
○ ○
8.2 [1]
8.2 [83]
3 A Soft Limit Positive Side LIMM
mm
[deg]
-9999.99 to
9999.99
Actual stroke on
positive side
(Note 2)
○
○ ○
4 A Soft Limit Negative Side LIML
mm
[deg]
-9999.99 to
9999.99
Actual stroke on
negative side
(Note 2)
○
○ ○
8.2 [2]
5 D Home Return Direction ORG -
0: Reverse
1: Normal
In accordance with
actuator
(Note 2)
○ ○ ○
8.2 [3]
6 C Push & Hold Stop Judgment
Period
PSWT msec 0 to 9999 255 ○ ○ ○ 8.2 [4]
7 C Servo Gain Number PLGO - 0 to 31
In accordance with
actuator
(Note 2)
○ ○ ○
8.2 [5]
8.3
8 B Default Velocity VCMD
mm/s
[deg/s]
1 to Actuator’s max.
speed
Rated actuator
speed
(Note 2)
○ ○ ○ 8.2 [6]
9 B Default
Acceleration/Deceleration
ACMD G
0.01 to Actuator's
max. acceleration/
deceleration
Rated actuator's
acceleration/
Deceleration
(Note 2)
○ ○ ○ 8.2 [7]
10 B Default Positioning Width INP
mm
[deg]
Actuator's min.
resolution to 999.99
In accordance with
actuator
(Note 2)
○ ○ ○ 8.2 [8]
12 B Current limitation at
positioning stop
SPOW % 0 to 70
In accordance with
actuator
(Note 2)
- ○ - 8.2 [9]
0 to 100 - ○ -
13 C Current-Limiting Value During
Home Return
ODPW %
0 to 300
In accordance with
actuator
(Note 2)
○ - ○
8.2 [10]
15 B Pause Input Disable
Selection
STP -
0: Enabled
1: Disabled
0 ○ ○ ○ 8.2 [11]
18 E Home Position Check Sensor
Input Polarity
LS - 0 to 2
In accordance
with actuator
(Note 2)
○
○ - 8.2 [12]
21 B Servo ON Input Disable
Selection
SON -
0: Enabled
1: Disabled
0 ○ ○ ○ 8.2 [13]
22 C Home Return Offset Level OFST
mm
[deg]
0.00 to 9999.99
In accordance
with actuator
(Note 2)
○
○ ○ 8.2 [14]
23 B
Zone Boundary 2 Positive
Side
ZNM2
mm
[deg]
-9999.99 to
9999.99
Actual stroke on
positive side
(Note 2)
○
○ ○
24 B
Zone Boundary 2 Negative
Side
ZNL2
mm
[deg]
-9999.99 to
9999.99
Actual stroke on
negative side
(Note 2)
○ ○ ○
8.2 [15]
8.2 [1]
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: Servo motor type, P: Pulse motor type, D: Brushless DC Motor
Chapter 8 Parameter