IAI SCON-CB-F - Page 336

8. Parameter
320
[119] FB Half Direct Mode Speed Unit (Parameter No.159)
No. Name Symbol Unit Input Range
Default factory
setting
159
FB Half Direct Mode Speed
Unit
FBVS
0: 1mm/s unit
1: 0.1mm/s unit
0
It is the parameter dedicated for Field Network Type.
[Refer to the Fieldbus instruction manual for more details.]
[120] Nominal Rigidity (Parameter No.163)
No. Name Symbol Unit Input Range
Default factory
setting
163 Nominal Rigidity FCNS N/mm 1 to 99999
In accordance
with actuator
It is the value of rigidity for each actuator.
Do not change the setting from the initial setting.
[121] Force Control Band (Parameter No.164)
No. Name Symbol Unit Input Range
Default factory
setting
164 Force Control Band FCBW rad/s 1 to 99 10
Setting is established for the band used as the force control.
Do not change the setting from the initial setting.
[122] Delay Time after Shutdown Release (Parameter No.165)
No. Name Symbol Unit Input Range
Default factory
setting
165
Delay Time after Shutdown
Release
SDDT ms 0 to 10000 0
It is used in purpose to distribute the in-rush current. It is used to set the delay time from the
driving power supply to shutdown cancellation. It is available to scatter the peak load by having
the time setting separately on each controller.
e.g.) When building up a drive cutoff circuit externally
External Servo-ON Command
(SON)
Reception of Controller
Internal Servo-ON Command
RActual Servo-ON Status
(SV)
If the on-edge 2) of external servo-ON command came after the point of passing
SDDT time 1), the condition becomes reception of controller internal servo-ON
command at the point of 2).
20ms
1)
2)
SDDT
(Default: 0ms)
Shutdown (*SDWN)
• Emergency Stop
• Enable Switch etc.