IAI America SSEL - Manual (Page 432)

410
Appendix
2. Parameters Common to All Axes
No. Parameter name
Default value
(Reference)
Input range Unit Remarks
~
1 Valid axis pattern 0000B 00B ~
11111111B
An OFF bit indicates that no driver is installed.
2 Default override 100 1 ~ 100 Used if not specified in program. (Invalid for SIO operation)
3 ~ 8 (For expansion) 0 ~
9 Physical axis pattern
for which enable
switch (deadman
switch/safety gate) is
effective 11111111B 00B ~
11111111B
Not affected by a BASE command. (To make the enable switch
effective for all axes (= it must be effective for all axes, as a rule),
always specify “11111111.” Only when “11111111” is set will the
enable switch be included in the drive-source cutoff factor. If a
value other than “11111111” is set, the drive source will not be cut
off and only the servo of the specified axis will be turned off.)
* All axes are specified if “Other parameter No. 11: Deadman
switch/safety-gate open recovery type” is set to 1 (Reset required
for recovery).
* The drive-source cannot be cut off for axes whose motor-drive
power unit is not housed inside this controller or whose drive-
source cutoff circuit is not controlled by this controller.
* If the optional (custom) specification is available, the optional
(custom) specification will be given priority over the deadman-
switch-enabled physical axis/drive-source cutoff specification,
servo OFF specification or 7-segment display specification.
10 Default TP position
movement axis order 0 0H ~
FFFFFFFFH
11 Default acceleration 30 1 ~ 200 0.01 G Used if not specified in position data, program or SIO message,
etc.
12 Default deceleration 30 1 ~ 200 0.01 G Used if not specified in position data, program or SIO message,
etc.
13 Default speed 30 1 ~ 250 mm/s Used if not specified in SIO message or position data, when
movement is to be continued, etc.
14 Valid selection when
operation point data
deceleration is 0
0 0 ~ 5 0: “Deceleration = Acceleration” when the deceleration in the
operation point data is “0”
1: “Deceleration = 0” when the deceleration in the operation point
data is “0”
15 Maximum jog speed
when home return is
incomplete
30 1 ~ 250 mm/s
16 ~
18
(For expansion) 0 ~
19 Processing type upon
stationary (non-push)
torque limit over 0 0 ~ 9 0: Operation-cancellation level error (recommended)
1: Operation cancellation (SEL command outputs will turn OFF)
*
Driver errors resulting from overload, etc., will be given priority.
20 Maximum operating
speed check timing
1 0 ~ 1 0: Check at input
1: Check at operation
* If “Check at operation” is selected, the distribution speed (CP)
of specified speed or the specified speed (PTP) will be
compared against the maximum operating speed of each axis
and clamped at the allowable speed. Accordingly, the system
can achieve its maximum performance in accordance with
the operation command. However, complete check cannot be
performed at input (since the command/operation start
position is indeterminable). In the case of CP, the distribution
speed will vary depending on the operation start position.
Therefore, specifying CP at an unspecified position (first point
movement, etc.) will cause the speed to fluctuate depending
on where the operation is started.
21 Maximum operating
speed for input value
check
1000 1 ~ 9999 mm/s If “Input” is selected as the maximum speed check timing, this
parameter will be used to check for input error.
22 Maximum
acceleration
100 1 ~ 999 0.01 G
23 Maximum
deceleration
100 1 ~ 999 0.01 G
24 Minimum emergency
deceleration
30 1 ~ 300 0.01 G