Iai-america XSEL-QX Manuel d'utilisateur télécharger pdf (Page 473)

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101

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Appendix

Axis-Specific Parameters

No. Parameter name

Default value

(Reference)

Input range Unit Remarks

14 Home-sensor input

polarity

0 0 ~ 2

Reference only

for SCARA axes

(axes 1 to 4)

0: Not used, 1: Contact a, 2: Contact b

15 Overrun-sensor input

polarity

0 0 ~ 2

Reference only

for SCARA axes

(axes 1 to 4)

0: Not used, 1: Contact a, 2: Contact b

16 Creep-sensor input

polarity

0 0 ~ 2

Reference only

for SCARA axes

(axes 1 to 4)

0: Not used, 1: Contact a, 2: Contact b

17 Default home-sensor

pullout speed at

movement to absolute

reset position/home

return

10,

1 ~ 100

Reference only

for SCARA axes

(axes 1 to 4)

mm/sec

18 Creep speed at

movement to absolute

reset position/home

return

100,

100

1 ~ 500

Reference only

for SCARA axes

(axes 1 to 4)

mm/sec End-search speed in the creep sensor non-

detection section when a creep sensor is used.

19 End-search speed at

movement to absolute

reset position/home

return

20,

1 ~ 100

Reference only

for SCARA axes

(axes 1 to 4)

mm/sec (Used for SCARA axis 3 (Zc) and linear

movement axes (axes 5 and 6 (6-axis type)))

20 Phase-Z search speed at

movement to absolute

reset position/home

return

1 ~ 10

Reference only

for SCARA axes

(axes 1 to 4)

mm/sec Exercise caution, since limitations apply

depending on the read/encoder pulse count.

(Used for SCARA axis 3 (Zc) and linear

movement axes (axes 5 and 6 (6-axis type)))

21 Offset travel distance at

movement to absolute

reset position/home

return

1000,

1000

-99999999 ~

99999999

Reference only

for SCARA axes

(axes 1 to 4)

0.001 mm (Positive value = Direction of moving away from

the end)

(Used for SCARA axis 3 (Zc) and linear

movement axes (axes 5 and 6 (6-axis type)))

(Fixed to “0” for axis 1 (A1c), axis 2 (A2c) and axis

4 (Rc).)

* Point to note when an absolute encoder is used

If a value near an integer multiple of the phase-Z

interval distance (including offset travel distance

0) is set for this parameter, servo lock will occur

over phase Z upon when an absolute reset is

performed. As a result, the coordinates may shift

by the phase-Z interval pulses.

Never set a value near an integer multiple of the

phase-Z interval distance.

(Provide a sufficient margin with respect to the

servo amplitude.)

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Iai-america XSEL-QX Manuel d'utilisateur Page 473

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