IAI Rcon, Инструкция по эксплуатации, Страница: 511 / 838

6.1 Parameter
B6-4
ME0384-4A
St
art
up
Se
ctio
n
Parameter list (4/5)
No. Name
Unit
(Note 1)
Input range
Default initial value
setting
Compatible
motor Type
(Note 3)
Relevant
sections
P A D S
109 Vibration damping No. initial
value
－ 0 to 3 0 － ○ － ○ B6-36
110 Stop method during SrvOFF －
0: Sudden stop
1: Decelerating stop
0 ○ ○ ○ ○ B6-36
112 Monitoring mode select －
0: Not in use
1: Monitor function 1
2: Monitor function 2
3: Monitor function 3
1 ○ ○ ○ ○ B6-37
113 Monitoring cycle ms
1 to 60,000
1
○ ○ ○ －
B6-37
1 to 1,000 － － － ○
120 Servo gain number 1 － 0 to 31
In accordance with
actuator (Note 2)
－ ○ － ○
B6-38
121 Position feed forward gain 1 － 0 to 100 0 － ○ － ○
122 Velocity loop proportional gain 1 －
1 to 27,661
In accordance with
actuator (Note 2)
－ ○ － －
1 to 99,999,999 － － － ○
123 Velocity loop integral gain 1 －
1 to 217,270
In accordance with
actuator
(Note 2)
－ ○ － －
1 to 99,999,999
－ － － ○
124 Torque filter constant 1 － 0 to 2,500
In accordance with
actuator (Note 2)
－ ○ － ○
125 Current control width number 1 － 0 to 15
In accordance with
actuator (Note 2)
－ ○ － ○
126 Servo gain number 2 － 0 to 31
In accordance with
actuator (Note 2)
－ ○ － ○
127 Position feed forward gain 2 － 0 to 100 0 － ○ － ○
128 Velocity loop proportional gain 2 －
1 to 27,661
In accordance with
actuator
(Note 2)
－ ○ － －
1 to 99,999,999
－ － － ○
129 Velocity loop integral gain 2
－
1 to 217,270
In accordance with
actuator (Note 2)
－ ○ － －
1 to 99,999,999 － － － ○
130 Torque filter constant 2 － 0 to 2,500
In accordance with
actuator
(Note 2)
－ ○ － ○
131 Current control width number 2 － 0 to 15
In accordance with
actuator
(Note 2)
－ ○ － ○
132 Servo gain number 3 － 0 to 31
In accordance with
actuator
(Note 2)
－ ○ － ○
133 Position feed forward gain 3
－
0 to 100 0
－ ○ － ○
134 Velocity loop proportional gain 3
－
1 to 27,661
In accordance with
actuator (Note 2)
－ ○ － －
1 to 99,999,999 － － － ○
135 Velocity loop integral gain 3 －
1 to 217,270
In accordance with
actuator (Note 2)
－ ○ － －
1 to 99,999,999 － － － ○
136 Torque filter constant 3
－
0 to 2,500
In accordance with
actuator (Note 2)
－ ○ － ○
137 Current control width number 3
－
0 to 15
In accordance with
actuator (Note 2)
－ ○ － ○
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