IAI Rcon, Инструкция по эксплуатации, Страница: 508 / 838

6.1 Parameter
B6-1
ME0384-4A
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6.1 Parameter
Parameter list
The following parameters are available for each actuator.
Parameters should be set and confirmed for each axis number.
Also, the unused parameters are not mentioned in the list.
Parameter list (1/5)
No. Name
Unit
(Note 1)
Input range
Default initial value
setting
Compatible
motor Type
(Note 3)
Relevant
sections
P A D S
1 Zone boundary 1 + side
mm
(deg)
-9,999.99 to 9,999.99
Actual stroke on + side
(Note 2)
○ ○ ○ ○ B6-6
2 Zone boundary 1 - side
mm
(deg)
-9,999.99 to 9,999.99
Actual stroke on - side
(Note 2)
○ ○ ○ ○ B6-6
3 Soft limit - side
mm
(deg)
-9,999.99 to 9,999.99
Actual stroke on + side
(Note 2)
○ ○ ○ ○ B6-8
4 Soft limit - side
mm
(deg)
-9,999.99 to 9,999.99
Actual stroke on - side
(Note 2)
○ ○ ○ ○ B6-8
5 Homing direction － 0: Reverse, 1: Forward
In accordance with
actuator (Note 2)
○ ○ ○ ○ B6-9
6 Pushing stop recognition time ms 0 to 9,999
In accordance with
actuator (Note 2)
○ ○ ○ ○ B6-10
7 Servo gain number － 0 to 31
In accordance with
actuator (Note 2)
○ ○ ○ ○ B6-11
8 Velocity initial value
mm/s
(deg/s)
1 ~ Actuator
maximum speed
Actuator
rated speed (Note 2)
○ ○ ○ ○ B6-11
9 Acc/Dec initial value
G
0.01 ~ Actuator max.
acceleration/deceleration
Actuator rated
acceleration/deceleration
(Note 2)
○ ○ ○ ○ B6-12
10 Positioning band initial value
mm
(deg)
0.01 ~ 999.99
In accordance with
actuator (Note 2)
○ ○ ○ ○ B6-12
12 Current limit during positioning
stop
% 0 to 70
In accordance with
actuator (Note 2)
○ － － － B6-13
13 Current limit during homing
%
0 to 100
In accordance with
actuator (Note 2)
○ － － －
B6-13
0 to 300 － ○ ○ ○
14 Dynamic brake － 0: Disabled, 1: Enabled 1 － － － ○ B6-13
18 Home sensor polarity
－
0 to 2
In accordance with
actuator (Note 2)
○ ○ － ○ B6-14
19 Overrun sensor input polarity
－
0 to 2
In accordance with
actuator (Note 2)
－ － － ○ B6-14
20 Creep sensor input polarity
－
0 to 2
In accordance with
actuator (Note 2)
－ － － ○ B6-15
22 Homing offset
mm
(deg)
0.00 to 9,999.99
In accordance with
actuator (Note 2)
○ ○ ○ ○ B6-16
23 Zone boundary 2 + side
mm
(deg)
-9,999.99 to 9,999.99
Actual stroke on + side
(Note 2)
○ ○ ○ ○ B6-6
24 Zone boundary 2 - side
mm
(deg)
-9,999.99 to 9,999.99
Actual stroke on - side
(Note 2)
○ ○ ○ ○ B6-6
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