IAI RA Series, Instruction Manual

Page: 156 / 186

6. Parameter Detail
148
6.2. Details of Extension Motion Control Parameter
[1] Extension Motion Control Position Data Max. Number of Used Points (I/O Parameter No.530)
Extension Motion Control Position Data Defined Max. Axis Number (I/O Parameter No.531)
Extension Motion Control Position Data Number of Defined Points (I/O Parameter No.532)
No. Parameter Name Unit Input range
Initial value
(reference)
530 Extension Motion Control Position Data Max. Number
of Used Points
- 0 to 512 128
531 Extension Motion Control Position Data Defined Max.
Axis Number
- 0 to 31 0
532 Extension Motion Control Position Data Number of
Defined Points
- 0 to 512 0
Set the number of position data and the maximum axis number for the extension motion control
features.
Input the same values as those in No. 530 and 532.
The position data will be stored in the user data retaining memory, and the number of position
data points is to be set within the range from 1 to 512 points in Parameter No. 530. For the
capacity reason of the user data retaining memory (65536 [bytes]), the number of position
points will decrease as the number of used axes increases. (Refer to the table below.)
Caution : It is necessary to conduct the software reset after making a change to a
parameter in order to reflect the settings.
Caution
• Error No. 6A1 “UBM Data Construction Change Error” will occur if any change is made to the
setting from I/O Parameter No. 530 to 532 and the extension motion control position data
before change will become unavailable to use. Have a backup for the position data before
making a change to a parameter as necessary.
In order to cancel Error No. 6A1, it is necessary to conduct “Memory Initialization” → “User
Data Retaining Memory” from the menu in the PC software, and then reboot the controller.
•
When there is an error in a parameter setting, Error No. 5B8 “Extension Motion Control
Position Data Setting Error” and Error No. 6A2 “UBM Size Overflow Error” will occur. Check
the parameter settings again.
ME0364-2B