IAI Rcon, Инструкция по эксплуатации, Страница: 512 / 838

6.1 Parameter
B6-5
ME0384-4A
St
ar
tu
p
Se
ct
io
n
Parameter list (5/5)
No. Name
Unit
(Note 1)
Input range
Default initial value
setting
Compatible
motor Type
(Note 3)
Relevant
sections
P A D S
138 Servo gain switch time
constant
ms 10 to 2,000 10 － ○ － ○ B6-39
139 Home preset value mm -9,999.99 to 9,999.99
In accordance with
actuator
(Note 2)
－ ○ － ○ B6-40
143 Overload load level ratio % 50 to 100 100
○ ○ ○ ○
B6-41
144 GS magnification upper limit % 0 to 1,023 0 (Disabled) ○ － － － B6-42
145 GS velocity loop proportional
gain
－ 1 to 99,999,999
In accordance with
actuator (Note 2)
○ － － － B6-42
146 GS velocity loop integral gain － 1 to 99,999,999
In accordance with
actuator (Note 2)
○ － － － B6-43
147 Total travel count threshold times 0 to 999,999,999 0 (Disabled) ○ ○ ○ ○ B6-43
148 Total travel distance threshold m 0 to 999,999,999 0 (Disabled) ○ ○ ○ ○ B6-43
150 Linear Absolute Home Preset
Value
mm -9,999.99 to 999,999,999
In accordance with
actuator (Note 2)
－ － － ○ B6-44
151 Minor malfunction alarm
output select
－
0: Output during overload
warning
1: Message level Alarm
output
1 ○ ○ ○ － B6-45
152 High output setting － 0: Disabled, 1: Enabled
In accordance with
actuator (Note 2)
○ － － － B6-45
153 BU velocity loop proportional
gain
－ 1 to 99999999
In accordance with
actuator (Note 2)
○ － － － B6-45
154 BU velocity loop integral gain － 1 to 99999999
In accordance with
actuator (Note 2)
○ － － － B6-46
155 Absolute battery retention
time
－
0: 20 days
1: 15 days
2: 10 days
3: 5 days
0 ○ ○ － － B6-47
158 Enabled/disabled axis select － 0: Enabled, 1: Disabled 0 ○ ○ ○ － B6-48
166 Startup current limit
expansion Function
－ 0: Disabled, 1: Enabled 0 (Disabled) ○ － － － B6-48
168 Collision detection function － 0 to 7 0 ○ － － － B6-49
181 Push mode －
0: CON mode
1: SEP mode
0 ○ ○ ○ － B6-50
182 Auto current adj. select － 0: Disabled, 1: Enabled 0 ○ － － － B6-51
190 Servo ON delay time
adjustment
ms 0 to 9,999 0 ○ － － － B6-51
191 Position data
expansion function setting
－
0: Not displayed
1: Drive torque limit
2: Push speed
0 ○ ○ ○ ○ B6-51
192 Actuator recognition function － 0: Disabled, 1: Enabled
In accordance with
actuator
(Note 2)
○ ○ － ○ B6-52
194 JOG switch
－
0: Enabled, 1: Disabled 0
○ ○ ○ ○
B6-52
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