IAI RoboNet Operation Manual page 78

(10) Incremental
(11) Command Mode
(12) Stop mode
Full-servo control method
58
Primary Delay Filter
The actuator accelerates/decelerates over a curve that is more gradual than in
linear acceleration/deceleration (trapezoid pattern). Use this pattern if you don't
want the load to receive micro-vibration during acceleration/deceleration.
Speed
The primary delay level is set in parameter No. 55, "Position-command primary
filter time constant." The setting unit is msec, and a desired value can be set in a
range of 0.0 to 100.0 in 0.1-msec steps.
If this parameter is set to "0," the primary delay filter will be disabled.
Note, however, that the parameter will not be reflected in jogging or inching feed
operated from a PC or teaching pendant.
• This field defines either absolute coordinate specification or relative coordinate
specification.
The factory setting is "0."
0: Absolute coordinate specification
1: Relative coordinate specification
• This field is not used with this controller.
The factory setting is "0."
• This field is invalid with RACON controllers.
• With RPCON controllers, define the power-saving method to be applied during the
standby period after completion of positioning to the target position set in the
"Position" field of the position number table.
0: Disable the power-saving mode
4: Full-servo control method
The holding current can be reduced by servo-controlling the pulse motor.
Although the degree of reduction varies depending on the actuator model, load
condition, etc., the holding current will drop to approx. 1/2 to 1/4.
Under this method, the servo remains on and therefore position deviation will not
occur.
The actual holding current can be checked on the current monitor screen of the PC
software.
Part 1 Specification
Time