IAI America XSEL-S User Manual
Page 52
Chapter 2 Operations
44
[2] Position data setting for extension motion control board axis (I/O parameter No. 530 to 532)
Position data areas are generated in the user data-hold memory (UBM) according to the
maximum axis number and the number of positions of the axes specified to be used.
Example: Axes 0 to 15 are enabled and 128 positions are used
[3] RC Controller Control I/O Assignment (I/O Parameters No. 534 to 581)
Set control attributes of the X-SEL DIO board to the control I/O of RC controller axis 0 using bits
0 to 3 of I/O parameter No. 534.
Setting values
x
Control I/O port connection unnecessary (not used) = 0h
x
ACON-PL, PCON-PL = 1h
x
SCON, SCON-CA, PCON-CA = 2h
Next, use I/O parameters No. 535 and 536 to set the top I/O port No. of the control PIO of RC
controller axis 0. Make the similar setting for the number of axes to be used. The error No. 505
"Extension motion control board axis control I/O port assignment parameter error” occurs if there
are any invalid port number settings, or overlaps with other system output port numbers
(including overlaps among control output ports of the RC controllers).
For unused axes, 0 shall be set. In this case, servo ON of extension motion control board control
axes, home return, alarm status, and other controls by I/O signals are disabled and only pulse
train commands are output. At this point, it is not necessary to connect control I/O ports, but
servo ON and home return operations are required. The servo ON status and home return status
at this setting are virtual and do not indicate the actual status of control targets.
Example:
Extension motion control board axis No. 0
Connect PCON, starting input port No. 208, starting output port No. 516
Extension motion control board axis No. 1
Connect SCON, starting input port No. 212, starting output port No. 519
208
208
208
516
516
516
212
212
212
519
519
519
Set 1h in case of PCON-PL/ACON-PL
Set 2h in case of SCON
1h
1h
1h
2h
2h
2h
Use 128 positions
Maximum axis No. is 15
Use 128 positions