IAI MSEL, Instruction Manual, Page: 127 / 234

Chapter 5 I/O Parameter
119
5.3 Axis-Specific Parameters
No. Parameter name
Default value
(Reference)
Input range Unit Remarks
1 Axis operation type
0
(PC/PG/
PCF/PGF),
1, 1, 0, 1
(PCX/PGX)
0 ~ 1
0: Linear movement axis
1: Rotational movement axis (Angle control)
2 (For extension) 0 ~
3 (For extension) 0 ~
4 (For extension) 0 ~
5 (For extension) 0 ~
6
Coordinate/physical-operation
direction selection
1
(PC/PG/
/PCF/PGF),
1, 1, 0, 1
(PCX/PGX)
0 ~ 1
0: Motor CW → Negative direction on the coordinate system
1: Motor CCW → Positive direction on the coordinate
system
7 Soft limit +
50000
(PC/PG/
PCF/PGF),
217000,
127000,
150000,
720000
(PCX/PGX)
-99999999 ~
99999999
0.001mm
0.001deg
(PC/PG/PCF/PGF type)
Fixed at 359.999deg inside when index mode
Invalid when infinite stroke mode
(PCX/PGX type)
For SCARA axes, set in coordinates for each axis
([0.001deg] for 1
st
, 2
nd
and 4
th
axes, [0.001mm] for 3
rd
axis).
Fixed at 359.999deg inside when liner axis in index mode
Invalid when linear axis in infinite stroke mode
* Differ depending on structure
8 Soft limit –
0
(PC/PG/
PCF/PGF),
-37000,
-127000,
0,
-720000
(PCX/PGX)
-99999999 ~
99999999
0.001mm
0.001deg
(PC/PG/PCF/PGF type)
Fixed at 0deg inside when index mode
Invalid when infinite stroke mode
(PCX/PGX type)
For SCARA axes, set in coordinates for each axis.
([0.001deg] for 1st, 2nd and 4th axes, [0.001mm] for 3rd axis)
Fixed at 0deg inside when liner axis in index mode
Invalid when linear axis in infinite stroke mode
* Differ depending on structure
9
Soft-limit actual position
margin
2000
(PC/PG/
PCF/PGF),
1000
(PCX/PGX)
0 ~ 9999
0.001mm
0.001deg Positioning boundary critical zone actual position margin in
infinite stroke mode
10 Home-return method
0
(PC/PG/
PCF/PGF),
0, 0, 0, 1
(PCX/PGX)
0 ~ 5
0: Search phase Z after end search
(Offset operation after end search for actuator without
Z-phase)
1: Current position 0 home
(Pay attention to contact. Update not to be applied for
battery-less ABS),
2: Current position = Preset home
(Pay attention to contact. Update not to be applied for
battery-less ABS)
3: System reservation
4: Home position sensor detection range center point
calculation method
11
Home-return end-search
direction selection
0
(PC/PG/
PCF/PGF),
0, 1, 0, 1
(PCX/PGX)
0 ~ 1
0: Negative end of the coordinate system
1: Positive end of the coordinate system
12 Home preset value
0
(PC/PG/
PCF/PGF),
0, 0, 0, 0
(PCX/PGX)
-99999999 ~
99999999
0.001mm
0.001deg
13 SIO/PIO home-return order
0
(PC/PG/
PCF/PGF),
0, 0, 0, 0
(PCX/PGX)
0 ~ 16 Executed from the smallest one.
14 Home-sensor input polarity
0
(PC/PG/
PCF/PGF),
0, 0, 0, 0
(PCX/PGX)
0 ~ 4
0: Do not use
1: Contact a (End detection sensor (End equivalent))
2: Contact b (End detection sensor (End equivalent))
3: Contact a (Home check sensor (Mechanical end vicinity
check))
4: Contact b (Home check sensor (Mechanical end vicinity
check))
15 System reservation 0 0 ~ 2
16 System reservation 0 0 ~ 2