IAI America XSEL-S - Manual (Page 94)

Chapter 2 Operations
86
2.6 Positioner Function
In addition to the electronic CAM and electronic shaft functions, positioning using position data is
provided, allowing PTP, linear interpolation move, etc.
This operation uses the expansion motion board axis actuator control command to operate. For
details, refer to 3.3.4, "Expansion Motion Board Axis Actuator Control Declaration Command."
2.6.1 Position Data Count
Position data is stored in the user data-hold memory *1 within the main CPU board and specifies the
number of position data using parameter No. 530 in the range from 1 to 512. Due to limited capacity
of the user data-hold memory, the number of positions stored decreases as the number of effective
axes increases (see Table 2.6.1). Moreover, since the data share the areas with the position data of
the RC gateway function, the number of position data also decreases if the RC gateway function
already uses the position data (see Table 2.6.2). If extension motion control boards use the position
data, the number of position data that can be used by the RC gateway function decreases.
Used Axis Number
Extension Motion Control Board Axis
Position Data Max Number
1 ~ 8 512
9 455
10 409
11 372
12 341
13 315
14 292
15 273
16 256
Table 2.6.1 Used Axis Number and Position Data Max Number
RC Gateway Function Used
Position Number (when 16 axis use)
Extension Motion Control Board Axis
Position Data Max Number
(when 16 axis use)
0 256
64 192
128 128
192 64
256 0
Table 2.6.2 RC Gateway Function Used Position Number and
Extension Motion Control Board Axis Position Data Max Number
*1 User data-hold memory
It is a general-purpose memory area, where data is maintained by battery (the size is 64 KB).