Iai-america XSEL-QX Manuel d'utilisateur télécharger pdf (Page 469)

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101

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Appendix

Parameters Common to All Axes

No. Parameter name

Default value

(Reference)

Input range Unit Remarks

29 All-axis setting bit

pattern 1

10000H 0H ~

FFFFFFFFH

Bits 0 to 3: (For future extension)

Bits 4 to 7: Overrun (servo) error level

(0: Operation-cancellation level

1: Cold-start level

2: Operation-cancellation level at reset,

thereafter cold-start level)

Bits 8 to 11: “Actual-position soft limit over (servo)”

error level (0: Operation-cancellation

level, 1: Cold-start level, 2: Operation-

cancellation level at reset, thereafter cold-

start level)

Bits 12 to 15: For future extension

Bits 16 to 19: Absolute-data backup battery voltage

error level

(0: Operation-cancellation level

1: Message level

(Main application version 0.17 or later)

30 Default division angle 150 0 ~ 1200 0.1 deg

31 Default division distance 0 0 ~ 10000 mm

32 Arch-trigger start-point

check type

0 0 ~ 5 0: Check operation amount and actual position

(A1c/A2c during SCARA-axis PTP)

1: Check operation amount only

33 CP safety speed of

SCARA axis in manual

mode

250 1 ~ 250 mm/s

34 PTP safety speed of

SCARA axis in manual

mode

3 1 ~ 10 %

35 Maximum jog speed for

each SCARA axis

system

5 1 ~ 10 %

36 Maximum jog speed for

each SCARA axis

system before

confirmation of

coordinates

3 1 ~ 10 %

37 Maximum SCARA axis

speed under JW

command

250 1 ~ 500 mm/s

38~

(For extension) 0 ~

44 PTP SM control ratio for

SCARA axis

3 0 ~ 50 %

45 Radius of circle

prohibiting entry of tool

reference point for

SCARA axis

150000 0 ~ 999999 0.001

For simple check. (Radius of a circle centered around

the axis of arm 1)

46 CPxy check tolerance

for SCARA axis

2000 100 ~ 9999 0.001

47 Default PTP

acceleration of SCARA

axis

20 1 ~ 100 % Used if not specified in position data, program or SIO

message, etc.

48 Default PTP

deceleration of SCARA

axis

20 1 ~ 100 % Used if not specified in position data, program or SIO

message, etc.

49 Default PTP speed of

SCARA axis

2 1 ~ 100 % Used if not specified in SIO message or during

continuous recovery movement, etc.

50 Width of SCARA-axis

CP-operation restriction

zone near arm 1/2

straight-line point

500 Reference only 0.001

For adjustment by the manufacturer

1 2 ... 464 465 466 467 468 469 470 471 472 473 474 ... 557 558

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Iai-america XSEL-QX Manuel d'utilisateur Page 469

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