IAI RA Series, Instruction Manual

Page: 161 / 186

6. Parameter Detail
153
[9] Maximum Jog Speed when Home Return not Completed (Extension motion control common
parameter No. 4)
No. Parameter Name Unit Input range
Initial value
(reference)
4
Maximum Jog Speed when Home Return not
Completed
mm/sec 1 to 250 30
This parameter sets the maximum jog speed (mm/sec) when home return has not been
completed.
[10] Fieldbus Communication Start Latency (Extension Motion Control Common Parameter No. 6)
No. Parameter Name Unit Input range
Initial value
(reference)
6 Fieldbus Communication Start Latency msec 0 to 10000 5000
Set the latency after the XSEL is started up (power is turned on or software reset is conducted)
till the communication to the slave devices starts. The communication initializing execution
timing on the XSEL side can be adjusted in case there is a time gap between the XSEL startup
and the slave startup.
[11] Max. Number of Fieldbus Communication Times (Extension Motion Control Common
Parameter No. 7)
No. Parameter Name Unit Input range
Initial value
(reference)
7 Max. Number of Fieldbus Communication Times Times 1 to 20 1
Set the number of retries in communication failure in MECHATROLINK Communication.
Also, when the number of retries is increased, Error No. 5B0 “Extension Motion Control
Fieldbus Initialization Error” may occur depending on the construction of slave connections and
transmission cycle setting (6.2 [12]).
[12] Fieldbus Transmission Cycle Select (Extension Motion Control Common Parameter No. 52)
No. Parameter Name Unit Input range
Initial value
(reference)
6 Fieldbus Transmission Cycle Select - 0 to 2 0
Set the transmission cycle of MECHATROLINK Communication.
In the setting at delivery (setting = 0), it is set to have automatic setting inside the controller
responding to the number of connected slave axes, and it is 1ms if the number of connected
slave axes ≤ 16, and 2ms if the number of axes is 16 or above.
By making a change to the setting, the transmission cycle can be fixed at 1ms (setting = 1) or
2ms (setting = 2) regardless of the number of connected slave axes.
Generally, there is a tendency that the accuracy of axis control gets better with shorter
transmission cycle, but the condition to enable communication establishment gets more limited.
Refer to 7.2. for detail.
ME0364-2B