IAI RCM-P6GW User Manual

8. Parameter
Fieldbus Communication
189
RCP6
S
Parameter List (4/5)
Applicable
Controller
(Note 3)
No.
Category
Name Symbol Unit
(Note 1)
Input Range
Default factory
setting
A P D
Relevant
sections
110 B Stop Method at Servo OFF PSOF -
0: Rapid stop
1: Deceleration to
stop
0 ○ ○ ○ 8.2 [50]
112 B
Monitoring Mode Selection
Monitoring Period
FMNT
-
0: Unused
1:
Monitor Function 1
2: Monitor Function 2
3: Monitor Function 3
1 ○ ○ ○ 8.2 [51]
113 B Monitoring Period FMNT msec 1 to 60000 1 ○ ○ ○ 8.2 [52]
120 C Servo Gain Number 1 PLG1 - 0 to 31
In accordance
with actuator
(Note 2)
○
- -
8.2 [53]
8.2 [5]
121 C Feed Forward Gain 1 PLF1 - 0 to 100
In accordance
with actuator
(Note 2)
○
- -
8.2 [53]
8.2 [40]
122 C
Velocity Loop Proportional
Gain 1
VLG1 - 1 to 27661
In accordance
with actuator
(Note 2)
○
- -
8.2 [53]
8.2 [21]
123 C Velocity Loop Integral Gain 1 VLT1 - 1 to 217270
In accordance
with actuator
(Note 2)
○
- -
8.2 [53]
8.2 [22]
124 C Torque Filter Time Constant 1 TRF1 - 0 to 2500
In accordance
with actuator
(Note 2)
○
- -
8.2 [53]
8.2 [23]
125 C
Current Control Width
Number 1
CLP1 - 0 to 15
In accordance
with actuator
(Note 2)
○
- -
8.2 [53]
8.2 [37]
126 C Servo Gain Number 2 PLG2 - 0 to 31
In accordance
with actuator
(Note 2)
○
- -
8.2 [53]
8.2 [5]
127 C Feed Forward Gain 2 PLF2 - 0 to 100
In accordance
with actuator
(Note 2)
○
- -
8.2 [53]
8.2 [40]
128 C
Speed Loop Proportional
Gain 2
VLG2 - 1 to 27661
In accordance
with actuator
(Note 2)
○
- -
8.2 [53]
8.2 [21]
129 C Speed Loop Integral Gain 2 VLT2 - 1 to 217270
In accordance
with actuator
(Note 2)
○
- -
8.2 [53]
8.2 [22]
130 C Torque Filter Time Constant 2 TRF2 - 0 to 2500
In accordance
with actuator
(Note 2)
○
- -
8.2 [53]
8.2 [23]
131 C
Current Control Width
Number 2
CLP2 0 to 15
In accordance
with actuator
(Note 2)
○
- -
8.2 [53]
8.2 [37]
132 C Servo Gain Number 3 PLG3 - 0 to 31
In accordance
with actuator
(Note 2)
○
- -
8.2 [53]
8.2 [5]
133 C Feed Forward Gain 3 PLF3 - 0 to 100
In accordance
with actuator
(Note 2)
○
- -
8.2 [53]
8.2 [40]
134 C
Speed Loop Proportional
Gain 3
VLG3 - 1 to 27661
In accordance
with actuator
(Note 2)
○
- -
8.2 [53]
8.2 [21]
135 C Speed Loop Integral Gain 3 VLT3 - 1 to 217270
In accordance
with actuator
(Note 2)
○
- -
8.2 [53]
8.2 [22]
136 C Torque Filter Time Constant 3 TRF3 - 0 to 2500
In accordance
with actuator
(Note 2)
○
- -
8.2 [53]
8.2 [23]
137 C
Current Control Width
Number 3
CLP3 - 0 to 15
In accordance
with actuator
(Note 2)
○
- -
8.2 [53]
8.2 [37]
138 C
Servo Gain Switchover Time
Constant
GCFT ms 10 to 2000 10 ○ - - 8.2 [54]
139 C Home Preset Value PRST mm
-9999.99 to
9999.99
In accordance
with actuator
(Note 2)
○
- - 8.2 [55]
143 B Overload Level Ratio OLWL % 50 to 100 100 ○ ○ ○ 8.2 [56]
144 B
Gain Scheduling Upper Limit
Multiplying Ratio
GSUL % 0 to 1023 0 (Disabled) - ○ - 8.2 [57]
Note 1 The unit [deg] is for rotary actuator and lever type gripper. It is displayed in [mm] in the teaching tools.
Note 2 The setting values vary in accordance with the specification of the actuator. At shipment, the
parameters are set in accordance with the specification.
Note 3
A: RCM-P6AC, P: RCP6S and RCM-P6PC, D: RCM-P6DC
ME0349-4B

IAI RCM-P6GW Specifications

General

Brand	IAI
Model	RCM-P6GW
Category	Conference System
Language	English