IAI PSEL, Operation Manual

Page: 637 / 1062

3. Program
143
3.5.28 How to Cause Rotational Axis [Multi-rotation Specification] to Rotate
Multiple Times
Regarding the axis operation types and rotation axis modes
(1) Axis-specific parameter No. 1, “Axis operation type”
No. Parameter name Default value Input range Unit
1 Axis operation type Varies depending on the actuator. 0 to 1 None
z
Explanation
This parameter defines the type of the actuator used. (Set this to 1.)
z
Setting values
0: Linear movement axis Actuator other than rotational axis
1: Rotational movement axis Rotational axis (RS-30/60, RCS2-RT*/RTC*)
(2) Axis-specific parameter No. 66, “Rotational axis mode selection”
No. Parameter name Default value Input range Unit
66 Rotational axis mode selection 0 0 to 5 None
z
Explanation
This parameter selects a desired rotational axis mode. (Set this to 1.)
Related parameter: Axis-specific No. 7, “Soft limit+”
z
Setting values
0: Normal
1: Index mode
* When the index mode is selected, the soft limit is fixed to 359.999mm internally.
Short-cut control is enabled while the index mode is selected.
2 to 5: Reserved by the system
Caution: Absolute-specification actuators do not support the following settings:
x
If this parameter is set to 0 (Linear movement axis), the infinite stroke mode
cannot be set with parameter No. 68.
x
If this parameter is set to 1 (Rotational movement axis), short-cut control
cannot be selected in parameter No. 67.