IAI America XSEL-S - Manual (Page 375)

Chapter 6 Parameter
6.3.2 For XSEL-RX/SX, RXD/SXD
367
Axis-Specific Parameters (XSEL-RX/SX, RXD/SXD)
No. Parameter name
Default value
(reference)
Input range Unit Remarks No.
139
Intrusion Forbidden Area
behind SCARA Axis
MAX (Xb)
100000,
0,
0,
0
0
-99999999
to 99999999 0.001mm
For simple checking
* Used only for Arm 1 Axis (Xb)
140
Intrusion Forbidden Area
behind SCARA Axis MIN
(Xb)
-100000,
0,
0,
0
0
-99999999
to 99999999 0.001mm
For simple checking
* Used only for Arm 1 Axis (Xb)
141
Home Preset Automatic
Update Datum
Coordinate
90000,
0,
0,
-90000
0
-99999999
to 99999999
0.001mm
0.001deg
* Valid for SCARA axes and ball screw
spline axes (linear sliding axes)
* Related Information: Each Axis
Parameter No.10, 12, 144
142
Ball Screw Spline
(Linear Sliding Axis +
Rotation Movement
Axis)
Rotation Movement Axis
� Linear Sliding Axis
Adjustment Coordinate
Direction Select
0 0 0 to 1
0: Rotation movement axis (R)
coordinates positive direction � linear
sliding axis (Z) coordinates positive
direction adjustment
1: Rotation movement axis (R)
coordinates positive direction � linear
sliding axis (Z) coordinates negative
direction adjustment
2: Adjustment invalid
* Used for SCARA Z-axis (Zc) and ball
screw spline linear sliding axis
143
SCARA Axis CP
Operation Limit Band
Actual Position Intrusion
Boundary Angle (A2c)
0 0 0 to 9999 0.001deg Input an absolute value
(Used only for 2 nd Axis (A2c))
144
End Offset Movement
Amount at Home Preset
Automatic Update
Datum Coordinate
Standby
0,
0,
5500,
0
5000
-99999999
to 99999999 0.001mm
(Positive value = direction to go against
the end)
* Used for SCARA Z-axis (Zc) and ball
screw spline linear sliding axis (linear
sliding axis)
* Movement is made for the amount of
this parameter (distance) after end
search when “3” is selected in Each
Axis Parameter No. 10 “Home-Return
Method”.
* Related Information: Each Axis
Parameter No.10, 12, 141
145
SIO Current Arm System
Changed Velocity Initial
Value (A2c)
0, 3, 0, 0 0 1 to 10 % * Used only for 2 nd Axis (A2c)
146 Reserved by the system
(change is prohibited)
5000 0
147 (For expansion) 0 0
148 (For expansion) 0 0
149 Reserved by the system
(change is prohibited)
0 0
150 (For expansion) 0 0
151 Reserved by the system
(change is prohibited)
10 10
152 Reserved by the system
(change is prohibited)
1000 1000
153 Reserved by the system
(change is prohibited)
10000 10000
154 Reserved by the system
(change is prohibited)
9950 9950
155 Reserved by the system
(change is prohibited)
0 0
156 Reserved by the system
(change is prohibited)
10 10
157 Reserved by the system
(change is prohibited)
1000 1000
158 Reserved by the system
(change is prohibited)
10000 10000