IAI America XSEL-S - Manual (Page 364)

Chapter 6 Parameter
6.3.2 For XSEL-RX/SX, RXD/SXD)
356
6.3.2 For XSEL-RX/SX, RXD/SXD
No. Parameter name
Default value
(reference)
Input range Unit Remarks No.
1 Axis operation type 1, 1, 0, 1 0 0 to 1
0: Linear movement axis
1: Rotation movement axis (angle control)
2 Linear sliding axis
ACMX+Acceleration 1
30 30 1 to 999 0.01G
Acceleration speed when ACMX
Command is executed.
• Acceleration of movement in positive
direction of the cooperate system
• Deceleration of movement in negative
direction of the cooperate system
Setting is established based on
transported weight, installation condition,
etc.
Note: Valid only on linear sliding axes
3 Linear sliding axis
ACMX-Acceleration 1
30 30 1 to 999 0.01G
Acceleration speed when ACMX
Command is executed.
• Acceleration of movement in positive
direction of the cooperate system
• Deceleration of movement in negative
direction of the cooperate system
Setting is established based on
transported weight, installation condition,
etc.
Note: Valid only on linear sliding axes
4 Linear sliding axis
ACMX+Acceleration 2
30 30 1 to 999 0.01G
Same as Each Axis Parameter No. 2
Note: Valid only on linear sliding axes
5 Linear sliding axis
ACMX-Acceleration 2
30 30 1 to 999 0.01G
Same as Each Axis Parameter No. 3
Note: Valid only on linear sliding axes
6
Coordinate and Physical
Operation Direction
Select
1, 1, 0, 0 1 0 to 1
0: Motor CCW�Positive direction of
coordinate
1: Motor CCW�Negative direction of
coordinate
Change Prohibited
7 Soft limit +
210000,
145000,
200000,
720000
50000
-99999999
to
99999999
0.001mm
0.001deg
For SCARA axes, set in coordinates for
each axis ([0.001deg] for 1 st , 2 nd and 4 th
axes, [0.001mm] for 3 rd axis).
Fixed at 359.999deg inside when linear
sliding axis index mode
Invalid when liner sliding axis infinite
stroke mode
8 Soft limit –
-30000,
-145000,
0,
-720000
0
-99999999
to
99999999
0.001mm
0.001deg
For SCARA axes, set in coordinates for
each axis ([0.001deg] for 1 st , 2 nd and 4 th
axes, [0.001mm] for 3 rd axis).
Fixed at 0deg inside when linear sliding
axis index mode
Invalid when liner sliding axis infinite
stroke mode
9 Soft-limit actual position
margin
1000 2000 0 to 9999
0.001mm
0.001deg
Positioning boundary critical zone actual
position margin when linear sliding axis
infinite stroke mode
10
ABS Reset Position
Movement /
Home-Return End
Search Direction Select
0 0 0 to 5
0: Z-phase search after end search
1: Current position at 0 home position
(available only when INC encoder, pay
attention to interference)
2: Current Position = Home preset value
(available only when INC encoder, pay
attention to interference)
3: Home preset automatic update datum
coordinates move after end search
4: Home position sensor detection range
center point calculation method
* When Each Parameter No. 166 is set to
1 (Drive Invalid), current position =
home position preset value set no
matter of this setting.