IAI PSEL, Operation Manual

Page: 438 / 1062

428
Appendix
~
Combination
T
a
bl
e of PSEL
Linear/Rot
ary Contr
ol Par
ameters
Permitted enco
der
proce
ssing
method
Ax
is-speci
fi
c
parameter
No.
1,
Ax
is
operati
on
ty
pe
Ax
is-speci
fi
c
parameter
No.
68, Mo
de
sele
cti
on for
linear
mov
ement
ax
is
Ax
is-speci
fi
c
parameter
No.
66, Mo
de
sele
cti
on for
rota
tional
mov
ement
ax
is
Ax
is-speci
fi
c
parameter
No.
67, Shor
t-cut
con
trol
sele
cti
on for
rota
tional
mov
ement ax
is
Simplified
absolu
te
uni
t
INC
Ex
pression
of curr
ent
posi
tion
(approx
.)
Ax
is-speci
fi
c
parameter
No.
7,
Soft
limit +
Ax
is-speci
fi
c
parameter
No.
8,
Soft
limit -
Ax
is-speci
fi
c
parameter
No.
44, Leng
th
measuremen
t
corre
ction
Ax
is-speci
fi
c
parameter
N
o
. 47
,
Screw
lead
Ax
is-speci
fi
c
parameter
N
o
. 50
,
Gear r
a
tio
numerator
Ax
is-speci
fi
c
parameter
No. 51
,
Gear
ratio
denominato
r
Inpu
t un
it
0
(Normal mode)
{{
Counter
range
Valid Valid
0
(Linear
mov
ement
ax
is)
1
(Infinite
str
oke
mode)
*Duty
-cy
cle
timeout che
ck
mus
t be
ex
amined.
Inv
alid Inv
alid
X
{
-10000 ~
9999.99 (Rotary
)
Inv
alid
(Note)
Inv
alid
(Note)
Valid Valid
Valid
Valid
x
D
istan
ce
m
m
x
Speed
mm
/se
c
x
Accelera
tion
/
deceler
atio
n
G
0
(Normal mode)
0
(Short-
cu
t
con
trol not
sele
cte
d)
* S
peci
fi
cation
of v
a
lues
other
th
an “
0
”
is p
rohibi
ted
in the n
ormal
mode.
{{
Counter
range
Valid Valid
0
(Short-
cu
t
con
trol not
sele
cte
d)
{{
Counter
range
1
(Rotati
onal
mov
ement
ax
is)
Inv
alid
1
(Index
mode)
1
(Short-
cu
t
con
trol
sele
cte
d)
X
{
0 ~ 35
9.99
9
(Rotary
)
Inv
alid
(Fix
ed to
“359.99
9”
internal
ly
.)
Inv
alid
(Fix
ed to “0”
internal
ly
.)
Inv
alid Inv
alid
Valid
Valid
x
Angle
mm
o
deg
x
Angular
v
e
locity
m
m
/se
c
o
deg
/se
c
x
Angular
accelera
tion
/de
cel
eration
G
= 98
07
m
m
/se
c2
o
9807
deg/sec2 = 9807
x
2
S
/ 360
rad/sec2
* Degree
v
alues
indica
te
the
angles o
f
the
rota
ting
body
at
the end.
(Note)
If a positioning comm
and other than “J
†
W
†
” is issued by specifying a value out
side the
coo
rdinate rang
e of approx. -9990 to 999
0, an
error (CBE, “Target-locus
boun
dary over error”)
will occur.
If a positioning comm
and other than “J
†
W
†
” is issu
e
d outsid
e the coo
rdi
nate ra
nge of app
rox
. -9990 to 99
90, an erro
r (CC5,
“Positioning boundary pull
-out error”)
will
occur.
Note:
On actu
ators
usin
g a sim
pli
fied absolute
unit, the following
setting
s are di
sa
bled:
x
Set the infinite stroke mode (“1
”) for a linear movement axis
x
Select the short-cut control
(“1”) for a rotational move
ment axis in the index mo
d
e