IAI America XSEL-S - Manual (Page 55)

Chapter 2 Operations
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[1] Drive disabled specification (parameter for each axis No. 166)
 0 = drive axis enabled (actuator connected)
 1 = drive axis disabled (actuator not connected)
The resolutions for the drive disabled axes are set using the following parameters in the same way as the
normal axes.
 Parameter for each axis No. 42 “Encoder resolution”
 Parameter for each axis No. 43 “Encoder division”
 Parameter for each axis No. 47 “Screw lead”
 Parameter for each axis No. 50 “Gear ratio numerator”
 Parameter for each axis No. 51 “Gear ratio denominator”
The same moving commands as normal axes are used to move drive disabled axes. It is necessary to
execute the servo ON and home return commands before executing moving commands. When the home
return command is executed, the current position is set to the value set by parameter for each axis No. 12
“Home preset value.”
Caution: If the following faults exist, the corresponding error occurs.
[1] The following errors occur in the case of wrong parameter settings.
(1) Error code 532 (drive disabled specification parameter error)
 Parameter for each axis No. 38 “Encoder ABS/INC type” is set to 1 (ABS).
 The axis is set as a synchronized axis (parameter for each axis No. 65 “Synchronized axis No.”).
 ZR unit setting is made (parameter for each axis No. 109 “Specification of ball screw spline (linear
move axis + rotation axis) corrected axis).”
 The value of parameter for each axis No. 28 “Maximum operation speed of each axis” exceeds
3000 mm/sec.
 The resolution setting is out of range (10 to 16000 pulses/mm).
(2) Error code B80 (specification prohibition axis error)
 The PUSH command was used.
[2] Driver ROM version, driver parameter production information, and similar data are not displayed in
the PC software and teaching pendant. If it is necessary to check such information, temporarily
cancel/remove all existing drive disabled axes specifications. Check the information, and then you
may redefine the drive disabled axes once again.
[3] You still need a motor drive power even if driving is disabled for all axes. If no motor drive power is
supplied, Error Code 607 “Motor power voltage low error” will occur.
(Note) Driving-disable axes are supported in Main Application Version 0.98 or later (XSEL-P/Q).