IAI America XSEL-S - Manual (Page 63)

Chapter 2 Operations
55
[3] Encoder pulse count per rotation (output channel parameter No. 5)
This parameter sets the number of pulses per encoder rotation of the control target axis (unit:
pulse). Make the setting according to the specification of the control target axis.
[4] Screw lead (output channel parameter No. 6)
This parameter sets the ball screw lead length of the control target axis (unit: 0.001 mm). Make
the setting according to the specification of the control target axis.
[5] Software limit +/software limit - (output channel parameters No. 7 and 8)
These parameters set the software limit + and -, respectively, of the control target axis (unit:
0.001 mm). Make the setting according to the specification of the control target axis.
[6] Software limit margin (output channel parameter No. 9)
This parameter sets the maximum following error at which instance an error is detected while
synchronous movement is being performed (unit: 0.001 mm). The software limit error occurs in
the following cases.
x Command position > [software limit +] + [software limit margin]
x Command position < [software limit -] - [software limit margin]
Caution: Set these parameters taking the distance from the software limit to the mechanical end of
the control target axis into consideration. If the setting value is too large, there is a risk
that an axis collides with the mechanical end.