IAI RA Series, Instruction Manual

Page: 127 / 186

5. Practical Settings
119
5.3.1. Preparation Before Operation
[1] Setting of Parameters
When moving the wrist unit in the extension motion control, it is necessary to have the setting
established (3 places) for the parameters in the table below for each of the wrist unit type and axis
type (B-axis and T-axis). Pay attention to the followings when you set up Each Extension Motion
Control Axis Parameter No. 23 “Axis Feature Definition”.
• Set earlier number to the axis number for B-axis than T-axis
• Two units at maximum of wrist unit available to install
No. Parameter Name
Wrist unit-S
(Standard)
Wrist unit-S
(Opposite)
Wrist unit-M
(Standard)
Wrist unit-M
(Opposite)
B-Axis T-Axis B-Axis T-Axis B-Axis T-Axis B-Axis T-Axis
23 Axis feature definition * 1 XX0400h XX0401h XX0400h XX0401h XX0400h XX0401h XX0400h XX0401h
26
Coordinate direction
select for axis feature
adjustment
0 1 0 0 0 1 0 0
29 Datum position for
axis feature ABS reset
90000 0 90000 0 90000 0 90000 0
* 1 Set the feature number (00 to 01) to “XX”. Set the same number to B and T-axes on the same
wrist unit. (eg. Feature No. 0, No. 1)
Check the parameter setting of T-axis in the table below. It is not necessary to check B-axis.
No. Parameter Name
Wrist unit-S
(Standard)
Wrist unit-S
(Opposite)
Wrist unit-M
(Standard)
Wrist unit-M
(Opposite)
B-Axis T-Axis B-Axis T-Axis B-Axis T-Axis B-Axis T-Axis
24
Numerator of axis
feature adjustment gear
ratio
- 1 - 1 - 1 - 1
25
Denominator of axis
feature adjustment gear
ratio
- 1 - 1 - 1 - 1
27
Software limit positive
after axis feature
adjustment
- 360000 - 360000 - 360000 - 360000
28
Software limit negative
after axis feature
adjustment
- -360000 - -360000 - -360000 - -360000
● Parameter No. 23 Axis Feature Definition should be as described below;
Bits 0-7 : Axes Order Definition
Indicate the order of axes in each feature.
* For each feature type = When wrist unit
0: B-Axis (Rocking axis)
1: T-Axis (Rotary axis)
Bits 8-15 : For each feature type
(0 : Invalid
1 to 3 : System Reservation
4 : Wrist unit
5 to FF : Spare)
Bits 16-23 : Feature No. (0 to)
* Definition for each Feature Type
* 0 to 1 (two units max.) for Wrist Unit
● Parameter No. 26 Coordinate Direction Select for Axis Feature Adjustment should be as stated
below;
0: B-Axis Coordinate Positive Direction → Correction in T-Axis Coordinate Positive Direction
1: B-Axis Coordinate Positive Direction → Correction in T-Axis Coordinate Negative Direction
Effective Only to T-Axis
ME0364-2B