IAI RCP6S User Manual

8. Parameter
Fieldbus Communication
214
RCP6
S
[54] Servo gain switchover time constant (Parameter No.138)
No. Name Symbol Unit Input Range
Default factory
setting
138
Servo Gain Switchover Time
Constant
GCFT msec 10 to 2000 10
When a switchover of the servo gain set is commanded in the position table, the switchover
process is completed after time more than 3 times of the time spent in the setting of this
parameter is passed since the operation of the commanded position number has started.
[55] Home Preset Value (Parameter No.139)
No. Name Symbol Unit Input Range
Default factory
setting
139 Home preset value PRST mm
-9999.99 to
9999.99
In accordance
with actuator
For the actuator of absolute specification, set this parameter so that (home return offset + value
of this parameter) is within the range between 0 and the ball screw lead. (as it is necessary to
register the Z-phase nearest to the mechanical end as the datum)
The value should be an integer multiple of ±ball screw lead length including 0.00.
(If the home return offset is within the range between 0 and ball screw lead length, the value of
this parameter is 0.00.)
Also, when a value other than 0.00 is set in this parameter, home-return complete position
cannot be 0.00
, and it gets to the positon of home position + this parameter.
For the actuator of incremental specification, always set this parameter to 0.00.
<Setting example 1>
With ball screw lead length 4mm and home return offset level 10mm, set this parameter to -8mm.
Caution: A time constant being rather short may cause the servo gain to change
rapidly to have the operation of the actuator unstable.
Caution: If the above condition is not satisfied, the home position at restart after home
return may shift by an integer multiple of the ball screw lead.
For RCM-P6AC only
Home Return Offset Level (10mm)
Home position preset value (-8mm)
Home return
completion position
[-8mm]
Ball Screw Lead Length (4mm) Ball Screw Lead Length (4mm) Ball Screw Lead Length (4mm)
Home Position
[0mm]
For RCM-P6AC only
ME0349-4B

IAI RCP6S Specifications

General

Brand	IAI
Model	RCP6S
Category	Conference System
Language	English