IAI America PSEL - Manual (Page 424)

414
Appendix
Axis-Specific Parameters
No Parameter name
Default value
(Reference)
Input range Unit Remarks
59 Allowable deviation error ratio
(Maximum speed pulse ratio) 138 1 ~ 9999 Deviation is compared against “Steady-state deviation of
maximum operating speed of each axis + Pulse speed of
maximum operating speed of each axis x Allowable
deviation error ratio.”
60 Position gain 45 1 ~ 9999 /s
61 FAG 0 0 ~ 999
62 Synchro FB gain 77 0 ~ 1000
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 0 0 ~ 8 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)
* The synchronization function cannot be used.
66 Mode selection for rotational
movement axis 0 0 ~ 5 0: Normal, 1: Index mode
67 Short-cut control selection
for rotational movement axis 0 0 ~ 5 0: Do not select, 1: Select (Valid only in the index mode
AND when an incremental encoder is used)
68 Mode selection for linear
movement axis 0 0 ~ 5 0: Normal, 1: Infinite-stroke mode (Note: Positioning
boundary applies. This setting can be specified only when
an incremental encoder is used.)
69 (For expansion) 0 ~
70 For future expansion 0 Reference
only
71 For future expansion 0 Reference
only
72 DRVVR + offset 0 Reference
only
DRVVR (Change prohibited) To maintain symmetry of the positive
and negative sides.
73 DRVVR – offset 0 Reference
only
DRVVR (Change prohibited) To maintain symmetry of the positive
and negative sides.
74 For future expansion 0 Reference
only
75 For future expansion 0 Reference
only
76 Home-adjustment
parameter set selection
1 Reference
only
(Change prohibited)
0: P21 = Z-phase evacuation distance at INC home return
P12 = Ideal Z-phase position coordinate
1: P32 is read automatically even when P33 = 0. P33 = 0
indicates “actual distance.”
P21 = Offset travel at home return
P12 = Coordinate achieved by offset travel at home return
P26 = Invalid
(To facilitate adjustment)
77 Synchro S pulse 3 0 ~ 99999 Pulse
78 Maximum takeoff command
amount
0 -3000 ~
3000
0.001 mm Maximum lift command amount before brake unlock (Input
with sign)
(Suppression of momentary drop upon servo ON when a
heavy object is placed)
* Important: Input using the same sign as the rising
coordinate direction. (0.100 mm to 0.500 mm in absolute
value as a guideline)
* The servo-ON check time (axis-specific parameter No. 30)
must also be extended (approx. 1000 to 1500 msec) to
provide a sufficient time for rise-direction torque to follow.
(Valid only when installation of brake is specified.)
79 Actual takeoff check
distance 5 0 ~ 3000 0.001 mm Absolute value input
80 Maximum forced-feed range 0 0 ~ 9999 0.001 mm For reduction of settling time. (Invalid range if “0” is set)
(Approx. 1.000 mm as a guideline)
81 Minimum forced-feed range 200 0 ~ 9999 0.001 mm
82 Medium forced-feed range 600 0 ~ 9999 0.001 mm
83 Absolute synchro slave-axis
initialization cancellation
0 0 ~ 5 Valid only with a synchro slave axis.
84 Maximum synchronization
correction speed of synchro
slave axis
5 0 ~ 100 mm/sec Maximum travel speed for synchronization position
correction of slave axis. Valid only with a synchro slave axis.
* Note: Not limited by the safety speed.
85 Home-return acceleration/
deceleration
15 1 ~ 300 0.01 G