IAI RA Series, Instruction Manual

Page: 160 / 186

6. Parameter Detail
152
[7] Extension Motion Control Feature Select (All Axes Parameter No. 151)
No. Parameter Name Unit Input range
Initial value
(reference)
151 Extension Motion Control Feature Select - 0
H
to FFFFFFFF
H
0
H
Indicate valid/invalid of the extension motion control feature in bit 0 to 3. The setting at delivery
is 0 (invalid)
Setting to 1 (valid), and the extension motion control feature becomes available.
[8] Electronic CAM Table Area Assignment (Extension motion control common parameter No. 2)
No. Parameter Name Unit Input range
Initial value
(reference)
2
Electronic cam table data area assignment
-
0H to
FFFFFFFFH
32013201H
The electronic cam table storage area is divided into 2 banks (banks 0 and 1). This parameter
assigns the number of tables and the number of displacement data items of each bank
(assigns in units of 1 KB: possible to store 256 displacement data items).
Bits 31 – 24 : Bank 0: Number of cam tables (BCD value: 0 to 99)
Bits 23 –16 : Bank 0, Number of displacement data items (BCD value: 1 to 99)
Bits 15 – 8 : Bank 1: Number of cam tables (BCD value: 0 to 99)
Bits 7 – 0 : Bank 1, Number of displacement data items (BCD value: 1 to 99)
(Note) That the following condition must be satisfied.
1) [Number of CAM tables for bank 0] x [Bank 0, Number of displacement data
items] +
[Number of CAM tables for bank 1] x [Bank 1, Number of displacement data
items] ≤ 256
2) [Number of Bank 0 Cam Table] + [Number of Bank 1 Cam Table] ≤ 128
3) Table size is 1 or higher and no bank with 0 of the number of tables
Caution
• When a change is made to the electronic cam table area, Error No. 5B7 “Electronic Cam Table
Size Unmatched Error” will occur, and the electronic cam table data before change will
become unavailable to use. Have a backup for the electronic cam table data before making a
change as necessary.
In order to cancel Error No. 5B7 “Electronic Cam Table Size Unmatched Error”, it is necessary
to conduct “Memory Initialization” → “Electronic Cam Table Data” from the menu in the PC
software, and then write in the flash ROM and reboot the controller.
• Error No. 5B2 “Electronic Cam Table Area Assi gnment Parameter Error” will occur if there is
any error in the parameter settings. Confirm Condition 1) to 3) above and revise the settings.
Table No. 0 to 7
Number of displacement data:
1024
Table No. 8 to 11
Number of displacement data:
2048
ME0364-2B