IAI America XSEL-S - Manual (Page 395)

Chapter 6 Parameter
6.8 Parameters for Linear / Rotation Controls
387
6.8 Parameters for Linear / Rotation Controls
Shown in the list below are the combinations of parameters for linear and rotation controls:
In
pu
t U
ni
t
• Dist
ance
mm
• S
peed
mm/sec
• A
cc
el
er
at
io
n/
D
ec
el
er
at
io
n
G
• a
ng
le
m
m
�
d
eg
• A
ng
ul
ar
v
el
oc
ity
m
m
/s
ec
�
d
eg
/s
ec
• An
gular
a
ccel
erati
on
and
de
celera
tion
G
=
98
07
m
m
/s
ec
2
�
9807
deg/se
c2
=
98
07
×2
�
/3
60
ra
d/
se
c2
”deg”
sho
ws
th
e
angle
of
a
s
ol
id
o
f r
ev
ol
ut
io
n
on
the
tip
E
ac
h
Ax
is
Parameter
No.51
G
ea
r R
at
io
De
no
m
ina
to
r
E
na
bl
e
E
na
bl
e
E
ac
h
Ax
is
Parameter
No.50 Gear R
at
io
Nu
m
er
at
or
E
na
bl
e
E
na
bl
e
E
ac
h
Ax
is
Parameter
No.47
S
cr
ew
L
ea
d
E
na
bl
e
D
is
ab
le
E
ac
h
Ax
is
Parameter
No.44
Measurem
en
t
A
dj
us
tm
en
t
E
na
bl
e
D
is
ab
le
E
ac
h
Ax
is
Parameter
N
o.
8
So
ft
lim
it-
E
na
bl
e
D
is
ab
le
(N
ot
e)
E
na
bl
e
D
is
ab
le
(Fixed
at
0
inside)
E
ac
h
Ax
is
Parameter
N
o.
7
So
ft
lim
it�
E
na
bl
e
D
is
ab
le
(N
ot
e)
E
na
bl
e
D
is
ab
le
(F
ix
ed
a
t
359.999
inside)
C
ur
re
nt
P
os
iti
on
Expre
ssion
(Appro
xima-
tely)
C
ou
nt
er
Range
-1
00
00
to
9999.99
9
(R
ot
ar
y)
C
ou
nt
er
Range
C
ou
nt
er
Range
00 to
359.999 (R
ot
ar
y)
IN
C � � � � �
Spurious
IN
C � � � � �
En
co
de
r P
ro
ce
ss
T
yp
e
Accepted/
Una
cce
pte
d
ABS
� � � � �
Ea
ch
A
xis
Pa
ra
m
et
er
N
o.
67
Sh
or
t-c
ut
c
on
tro
l
se
le
ct
io
n
fo
r
ro
ta
tio
na
l
m
ov
em
en
t a
xis
D
is
ab
le
0
(S
ho
rtc
ut
co
nt
ro
l n
ot
se
lec
te
d)
D
o
no
t s
et
a
ny
va
lu
e
ex
ce
pt
fo
r
0
in
normal
m
od
e
0
(S
ho
rtc
ut
co
nt
ro
l n
ot
se
lec
te
d
1
(S
ho
rtc
ut
co
nt
ro
l n
ot
se
lec
te
d
E
ac
h
Ax
is
Parameter
No.66 Ro
ta
tio
n
M
ov
em
en
t
A
xi
s
M
od
e
Select D
is
ab
le
0
(Normal
M
od
e)
1
(In
de
x
M
od
e)
E
ac
h
Ax
is
Parameter
No.68 Linear
Sliding
A
xi
s
M
od
e
S
el
ec
t
0
(Normal
M
od
e)
1
(Infinite
st
ro
ke
m
od
e)
Du
ty
c
yc
le
timeout chec
k
detecti
on
neces
sary
D
is
ab
le
E
ac
h
Ax
is
Parameter
N
o.
1
Axi
s
op
eration
ty
pe 0
(linear
m
ov
em
en
t
ax
is
)
1
(r
ot
at
io
n
m
ov
em
en
t
ax
is
)
( N
ot
e)
: “
Er
ro
r N
o.
C
B
E
T
ar
ge
t T
ra
ck
in
g
D
at
a
B
ou
nd
ar
y
Vi
ol
at
io
n
E
rr
or
” w
ill
be
is
su
ed
if
h
av
in
g
a
pos
iti
on
in
g
co
m
m
an
d
ex
ce
pt
fo
r ‘
Jx
W
x’
e
xc
ee
di
ng
th
e
co
or
di
na
te
ra
ng
e
ap
pr
ox
im
at
el
y
fro
m
-9
99
0
to
9
99
0.
: “E
rror
No.
CC5
Po
siti
oning
Bound
ary
Excess
Error
” w
ill
be
issue
d
if
exe
cu
tin
g
a
posi
tion
ing
com
mand
exce
pt
fo
r ‘
JxWx’
out
of
th
e
co
or
di
na
te
ra
ng
e
ap
pr
ox
im
at
el
y
fro
m
-9
99
0
to
9
99
0.