Technical information

23Page
DD01T0213703
14.10.02
ATV 16 parameters for MPA–II XN or YN robots
Parameters for a PIP ... XN or YN 3010 3020 3030 3040
Axis X Y X Y X Y X Y
Acc Acceleration time 0.1
dEc Deceleration time 0.1
LSP Slow speed 0.0
HSP High speed 90 45 95 79 110 79 110 90
UFr Voltage / frequency law 32 75 20 35 19 30 15 18
FLG Frequency loop gain nFL
ItH Motor thermal protection 2.5 3.0 2.5 3.5 3.0 4.0 3.5
SLP Slip compensation OFF
brA Deceleration ramp adaptation OFF
UFt Type of voltage / frequency law L
tFr Max. frequency of speed driver 150
FrS Nominal frequency of motor 86.0 50.0 86.0
UnS Nominal voltage of motor 230
ATV 58 parameters for MPA–II XN or YN robots originally equipped with an ATV 58
Parameters for a PIP ... XN or YN 3010 3020 3030 3040
Axis X Y X Y X Y X Y
Acc Acceleration time 0.05
dEc Deceleration time 0.05
LSP Slow speed 0.0
HSP High speed 77 92 95 79 95 79 95 90
UFr Voltage / frequency law 86 100 50 85 80 80 20 40
STA Stability 1
FLG Frequency loop gain 100
ItH Motor thermal protection 3.5
SLP Slip compensation 1
brA Deceleration ramp adaptation yes
tFr Max. frequency of speed driver 130
FrS Nominal frequency of motor 50 for 230 / 400 V motor coupled at 230 V (triangle)
86 for 127 / 230 V motor coupled at 127 V (triangle)
UnS Nominal voltage of motor 230