IAI America XSEL-S User Manual
Page 163
Chapter 4 Parameters
155
[18] Software limit – (extension motion control board output channel parameter No. 8)
No.
Parameter name
Unit
Input range
Default value
(reference)
8
Software limit -
0.001 mm
-99999999
~
99999999
0
This parameter sets the software limit - of the control target axis. (unit: 0.001 mm).
Make the setting according to the specifications of the control target axis.
* Set “359999” when the parameter for each axis No. 66 “selection of rotation movement axis mode”
(index mode) is set to 1 for the control target axis.
[19] Software limit margin (extension motion control board output channel parameter No. 9)
No.
Parameter name
Unit
Input range
Default value
(reference)
9
Software limit margin
0.001 mm
0~9999
300
This parameter sets the exceeded amount from software limit at which an error is detected while
synchronous movement is being performed. A software limit error occurs at (unit: 0.001 mm) or less.
Command position > [software limit +] + [software limit margin]
Command position < [software limit -] - [software limit margin]
[20] Electronic gear numerator (extension motion control board output channel parameter No. 10)
Electronic gear denominator (extension motion control board output channel parameter No. 11)
No.
Parameter name
Unit
Input range
Default value
(reference)
10
Electronic gear numerator
-
1~99999999
1
11
Electronic gear denominator
-
1~99999999
1
This parameter sets electronic gear numerator and denominator for determining the unit movement
(mm/pulse) of the command pulse. Make the settings according to the specifications of the control
target axis.
Electronic gear numerator/electronic gear denominator = number of pulses per one encoder rotation
(pulse/rev) / screw lead (mm/rev) x unit movement amount (mm/pulse)
Unit movement amount: Movement of actuator per command pulse
Caution: The maximum output pulse frequency of a extension motion control board is 500,000
(pulse/sec). For this reason, the following condition must be satisfied.
Maximum speed (mm/sec) / unit movement amount (M/pulse) 500,000 (pulse/sec)
If this condition is not satisfied, the error No. 51E “Extension motion control board output
channel parameter error” occurs.