IAI MSEL, Instruction Manual, Page: 123 / 234

Chapter 5 I/O Parameter
115
All Axes Common Parameters
No. Parameter name
Default value
(Reference)
Input range Unit Remarks
34
SCARA axis PTP safety speed
in manual mode
(For PCX/PGX type)
5 1 ~ 10 % * PC/PG/PCF/PGF is system reservation
35
SCARA axis each axis related
Max. Jog speed
(For PCX/PGX type)
10 1 ~ 10 % * PC/PG/PCF/PGF is system reservation
36
SCARA axis each axis related
Max. Jog speed at coordinate
not determined
(For PCX/PGX type)
5 1 ~ 10 % * PC/PG/PCF/PGF is system reservation
37
JxWx command SCARA axis
Max. speed
(For PCX/PGX type)
150 1 ~ 500 mm/s * PC/PG/PCF/PGF is system reservation
38 System reservation 0 0 ~ 5
39 System reservation 0 0 ~ 999999 0.001mm
40 (For extension) 0 ~
41 (For extension) 0 ~
42 All axes setting bit pattern 2
0H
(PC/PG/
PCF/PGF),
11H
(PCX/PGX)
0H ~ FFFFFFFFH
Bits 0 to 3: System reservation
Bits 4 to 7: System reservation
Bits 8 to 31: (Reserved)
43
Stopper pressing type absolute
reset setting
0 ~
44
SCARA axis PTP SM control
ratio
(For PCX/PGX type)
3 0 ~ 50 % * PC/PG/PCF/PGF is system reservation
45
SCARA axis tool datum point
invasion forbidden diameter
(For PCX/PGX type)
158500 0 ~ 999999 0.001mm
* PC/PG/PCF/PGF is system reservation
For simple checking
(Diameter of a circle with 1
st
arm axis as the center)
* Differ depending on structure
46
SCARA axis Cpxy check
tolerance
(For PCX/PGX type)
2000 100 ~ 9999 0.001mm * PC/PG/PCF/PGF is system reservation
47
SCARA axis PTP acceleration
initial value
(For PCX/PGX type)
20 1 ~ 100 %
* PC/PG/PCF/PGF is system reservation
Used when not indicated in position data, program and SIO
message, in continuous recovery movement, etc.
48
SCARA axis PTP deceleration
initial value
(For PCX/PGX type)
20 1 ~ 100 %
* PC/PG/PCF/PGF is system reservation
Used when not indicated in position data, program and SIO
message, in continuous recovery movement, etc.
49
SCARA axis PTP speed initial
value
(For PCX/PGX type)
2 1 ~ 100 %
* PC/PG/PCF/PGF is system reservation
Used when not indicated in position data, program and SIO
message, in continuous recovery movement, etc.
50
SCARA axis CP operation
restriction band width around
arm 1 & arm 2 straight points
(For PCX/PGX type)
500 0 ~ 9999 0.001mm
* Change prohibited unless any indication from the supplier
* PC/PG/PCF/PGF is system reservation
51
SCARA axis control 1
(For PCX/PGX type)
11111H 0H ~ FFFFFFFFH
* PC/PG/PCF/PGF is system reservation
Bits 0 to 3:
System reservation
Bits 4 to 7: System reservation
Bits 8 to 11: SCARA Z position → horizontal movement
optimized (PTP)
(0: Disable, 1: Enable)
Bits 12 to 15: SCARA Z position → horizontal movement
optimized (CP)
(0: Disable, 1: Enable)
*
Disable is recommended when velocity
constancy, tracking accuracy and reach to
setting speed are required in CP operation
Bits 16 to 19: Select SCARA axis position gain switchover
function
(0: Disable, 1: Enable)
52 (For expansion) 0 ~
53
Position gain switchover
timeout time
(For PCX/PGX type)
2000 100 ~ 9999 msec * PC/PG/PCF/PGF is system reservation