IAI America XSEL-QX - Manual (Page 470)

446
Appendix
Parameters Common to All Axes
No. Parameter name
Default value
(Reference)
Input range Unit Remarks
51 SCARA axis control 1 0H 0H ~
FFFFFFFFH
Bits 8 to 11: Z position Æ horizontal move optimization
for SCARA (PTP)
(0: Disable
1: Enable)
(Available only on high-speed SCARA robots of main
application version 0.45 or later.)
Bits 12 to 15: Z position
Æ horizontal move optimization
for SCARA (CP)
(0: Disable
1: Enable)
* It is recommended to disable this function if CP
operation must be performed at a constant speed
with accurate locus and the set speed must be
reached.
(Available only on high-speed SCARA robots of main
application version 0.45 or later.)
52 ~
60
(For extension) 0
61 ~
109
(For extension)
110
~
130
(For extension) ~
131 Reserved by the system
(Change prohibited)
0 0 ~ 5
132 Maximum loading
capacity for load at tip
(SCARA axis)
10000 1 ~ 99999999 9
133 Maximum allowable tip
load inertial moment
(SCARA axis)
60000 1 ~ 99999999 kg-
mm^2
134 Reserved by the system
(Change prohibited)
0 0 ~ 5
135 Reserved by the system
(Change prohibited)
0 0 ~999
136 Reserved by the system
(Change prohibited)
0H 0H ~
FFFFFFFFH
139 Reserved by the system
(Change prohibited)
50891 1 ~ 99999999 For adjustment by the manufacturer.
140 Reserved by the system
(Change prohibited)
98000 1 ~ 99999999 For adjustment by the manufacturer.
141~
199
(For extension) ~
200 Default acceleration of
linear movement axis
30 1 ~ 200 0.01 G Used if not specified in position data, program or SIO
message, etc.
* Valid for linear movement axes (axes 5 and 6 (6-axis
type)) only.
(Main application version 0.12 or later)
201 Default deceleration of
linear movement axis
30 1 ~ 200 0.01 G Used if not specified in position data, program or SIO
message, etc.
* Valid for linear movement axes (axes 5 and 6 (6-axis
type)) only.
(Main application version 0.12 or later)
202 Default speed of linear
movement axis
30 1 ~ 250 mm/sec Used if not specified in SIO message or position data or
during continuous recovery movement, etc.
* Valid for linear movement axes (axes 5 and 6 (6-axis
type)) only.
(Main application version 0.12 or later)
203 Maximum acceleration
of linear movement axis
100 1 ~ 999 0.01 G * Valid for linear movement axes (axes 5 and 6 (6-axis
type)) only.
(Main application version 0.12 or later)
PC: PC software
TP: Teaching pendant