IAI America XSEL-QX - Manual (Page 476)

452
Appendix
Axis-Specific Parameters
No. Parameter name
Default value
(Reference)
Input range Unit Remarks
51 Gear ratio numerator 50,
50,
10,
15,
1,
1
1 ~ 99999999
Reference only
for SCARA axes
(axes 1 to 4)
52 (For extension) 0
53 Setting bit pattern 1 of
each axis
0 0H ~
FFFFFFFFH
Bits 0 to 3: For future extension
54 Travel distance for push-
motion stop detection at
movement to absolute
reset position/home return
20 1 ~ 99999 0.001 mm Used for confirmation of push motion operation at
movement to absolute reset position/home return.
(Used for SCARA axis 3 (Zc) and linear
movement axes (axes 5 and 6 (6-axis type)))
55 Travel distance for push-
motion stop detection at
positioning
30 1 ~ 99999 0.001 mm Used for confirmation of push motion operation
effected by a PUSH command.
(Used for SCARA axis 3 (Zc) and linear
movement axes (axes 5 and 6 (6-axis type)))
56 Deviation ratio for forced
push-motion completion at
movement to absolute
reset position/home return
5000 1 ~ 99999 Deviation is compared against “Steady-state
deviation of push speed + Push-speed pulse
speed x Abort deviation ratio.” (Used only for axis
3 (Zc))
57 Push-abort deviation ratio
at positioning
3000 1 ~ 99999 Deviation is compared against “Steady-state
deviation of push speed + Push-speed pulse
speed x Abort deviation ratio.”
58 Positioning band 50,
50,
100,
150,
100,
100
1 ~ 9999 0.001 mm,
0.001 deg
59 Allowable deviation error
ratio
(Maximum speed pulse
ratio)
85 Reference only For adjustment by the manufacturer
60 PPG (Position gain) 60,
60,
60,
60,
30,
30
1 ~ 9999 * Change is prohibited for SCARA axes (axes 1 to
4) unless instructed by the manufacturer.
61 PFAG 0 0 ~ 999 * Change is prohibited for SCARA axes (axes 1 to
4) unless instructed by the manufacturer.
62 Linear movement axis
synchro FB gain
0,
0,
0,
0,
77,
77
1 ~ 1000
Reference only
for SCARA axes
(axes 1 to 4)
* Valid for linear movement axes (axes 5 and 6 (6-
axis type)) only.
(Main application version 0.12 or later)
63 Stop special output range 1 0 ~ 9999 Pulse Invalid if “0” is set.
64 Stop special output value 1 0 ~ 999 DRVVR
65 Mating synchro-axis
number (linear movement
axis)
0 0 ~ 8
Reference only
for SCARA axes
(axes 1 to 4)
Must be input for both axes. (Of the axis pair, the
axis with the smaller axis number becomes the
master axis. Both axes must have the same
resolution characteristics. Commands cannot be
issued to the slave axis.) (Invalid if “0” is set)
* Valid for linear movement axes (axes 5 and 6
(6-axis type)) only.
(Main application version 0.15 or later)
66 Mode selection for
rotational movement axis
(linear movement axis)
0 0 ~ 5
Reference only
for SCARA axes
(axes 1 to 4)
0: Normal, 1: Index mode
* Valid for linear movement axes (axes 5 and 6
(6-axis type)) only.
(Main application version 0.12 or later)