Parameters Relating To Actuator Operating Characteristics - IAI RoboNet Operation Manual

4.4.3 Parameters Relating to Actuator Operating Characteristics

Default Speed (No. 8, VCMD)
The factory setting is the rated speed of the actuator.
This value is treated as the speed data corresponding to the applicable position number when a target position has been
written to the unregistered position table or the current position read into the table in the teaching mode.
To decrease the default speed from the rated speed, change the value set in parameter No. 8.
Default Acceleration/Deceleration (No. 9, ACMD)
The factory setting is the rated acceleration/deceleration of the actuator.
This value is treated as the acceleration/deceleration data corresponding to the applicable position number when a target
position has been written to the unregistered position table or the current position read into the table in the teaching mode.
To decrease the default acceleration/deceleration from the rated acceleration/deceleration, change the value set in parameter
No. 9.
Default Positioning Band (In-position) (No. 10, INP)
The factory setting is "0.10" [mm].
This value is treated as the positioning band data corresponding to the applicable position number when a target position has
been written to the unregistered position table or the current position read into the table in the teaching mode.
Increasing this parameter value causes the position complete signal to output more quickly. If necessary, change the value set
in parameter No. 10.
Current-limiting Value during Home Return (No. 12, SPOW) <Effective only on the RPCON>
This parameter is effective only on the RPCON.
Before shipment, this parameter has been set to a current level appropriate for the standard specification of the actuator.
Increasing this parameter value increases the holding torque at standstill.
This parameter need not be changed in normal conditions of use. However, hunting will occur if the actuator receives a large
external force at standstill. In this case, the value set in parameter No. 12 must be increased.
(As a guide, the setting should not exceed 70%.)
Current-limiting Value at Standstill after Home Return (No. 13, ODPW)
In the case of the RPCON, this parameter has been set to a value appropriate for the standard specification of the actuator
before shipment.
In the case of the RACON, this parameter has been set to 120% for the slider type and 100% for the rod type.
Increasing this parameter value increases the home return torque, but this parameter need not be changed in normal
conditions of use.
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Part 1 Specification