IAI MSCON Instruction Manual page 83

12) Incremental········· Set to 1 for pitch feed (relative movement = incremental feed).
Caution: In the pitch feed, do not perform a command with a pitch smaller than the
13) Gain set ··············
14) Stop mode ··········
ME0306-2A
The value set for the position in 1) indicates the pitch feed distance.
With the value set to 0, positioning is defined to the position in 1) based
on the absolute coordinate system.
minimum encoder resolution (lead/encoder pulse number) or that less than
positioning accuracy repeatability.
There would be no deviation to occur even with the command because it is an
operation command to the same position as the positioning complete condition,
but the positioning control cannot be performed properly.
When solenoid valve mode 2 is selected, set this to 0. Setting this to 1 causes the
position data error to occur.
Six parameters required for servo gain adjustment are collected to be a
single set. 4 types of settings are able to be registered and the servo
gains can be switched over for each positioning operation. By utilizing
Smart Tuning Function
optimum can be obtained.
(Note) Refer to Chapter 9 Appendix Connectable Actuators for the
applicable models.
It may require the setting of the gain set dedicated for the
home-return operation in the case this function is used to have
the high-speed setting or the setting to apply a transported
weight more than the ratings.
For how to set up and the caution items, refer to the instruction
manual for RC PC Software.
[Parameters constructed in 1 set]
Servo Gain Number (Position Gain)
Position Feed Forward Gain
Speed Loop Proportional Gain
Speed Loop Integral Gain
Torque Filter Time Constant
Current Control Band Number
It is able to establish the gain set that corresponds to the position
number to be operated to the indicated gain set.
[Refer to "Servo Adjustment" in Section 7.3 for each gain parameter
details.]
Setting Parameter Set Select
0 Gain Set 0
1 Gain Set 1
2 Gain Set 2
3 Gain Set 3
Automatic servo OFF is enabled after a certain period from the
completion of positioning for power saving.
A proper period can be selected from three parameters.
Operation after Positioning
Setting
Complete
0 Keep the servo ON
1 Automatic servo-off in a
certain time
2 Automatic servo-off in a
certain time
3 Automatic servo-off in a
certain time
(Note)
in the PC software, the setting close to the
Parameter No.
7, 71, 31 to 33, 54
120 to 125
126 to 131
132 to 137
Parameter No.
―
36
37
38
75