IAI America XSEL-QX - Manual (Page 472)

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Appendix
3. Axis-Specific Parameters
No. Parameter name
Default value
(Reference)
Input range Unit Remarks
1 Axis operation type 1,
1,
0,
1,
0,
0
0 or 1
Reference only
for SCARA axes
(axes 1 to 4)
0: Linear movement axis, 1: Rotational movement
axis (angle control)
(Change is prohibited for SCARA axes (axes 1 to
4))
2 ~
5
(For extension) 0 ~
6 Coordinate/physical
operation direction
selection
1,
1,
0,
0,
1,
1
0 or 1
Reference only
for SCARA axes
(axes 1 to 4)
0: Motor CCW o Positive direction on the
coordinate system
1: Motor CCW o Negative direction on the
coordinate system
7 Soft limit + 210000,
145000,
200000,
720000,
50000,
50000
-99999999 ~
99999999
0.001
mm,
0.001 deg
Fixed to 359.999 degrees internally for linear
movement axes (axes 5 and 6 (6-axis type)) in the
index mode
Invalid in the infinite-stroke mode.
8 Soft limit – -30000,
-145000,
0,
-720000,
0,
0
-99999999 ~
99999999
0.001
mm,
0.001 deg
Fixed to degree internally for linear movement axes
(axes 5 and 6 (6-axis type)) in the index mode
Invalid in the infinite-stroke mode.
9 Soft-limit actual position
margin 1000,
1000,
1000,
1000,
2000,
2000
0 ~ 9999 0.001
mm,
0.001 deg
This parameter indicates the actual position margin
for the critical positioning boundary zone for linear
movement axes (axes 5 and 6 (6-axis type)) in the
infinite-stroke mode.
10 Method of movement to
absolute reset
position/home return
0 0 ~ 5
Reference only
for SCARA axes
(axes 1 to 4)
0: Search for phase Z after end search
1: Current position = 0 home
(This can be specified for an incremental
encoder only. Pay attention to interference.)
2: Set the current position as the preset home
(This can be specified for an incremental
encoder only. Pay attention to interference.)
(Change is prohibited for SCARA axes (axes 1 to
4))
11 End-search direction
selection at movement to
absolute reset
position/home return
0 0 or 1
Reference only
for SCARA axes
(axes 1 to 4)
0: Negative end of the coordinate system
1: Positive end of the coordinate system
(Used for SCARA axis 3 (Zc) and linear movement
axes (axes 5 and 6 (6-axis type)))
12 Home preset value 90000,
0,
0,
-90000,
0,
0
-99999999 ~
99999999
Reference only
for SCARA axes
(axes 1 to 4)
0.001
mm,
0.001 deg
13 Sequence of SIO/PIO
movement to absolute
reset position/home
return
0 0 ~ 16
Reference only
for SCARA axes
(axes 1 to 4)
Executed sequentially from the smallest number.
* Valid for linear movement axes (axes 5 and 6 (6-
axis type)) only.