IAI RA Series, Instruction Manual

Page: 163 / 186

6. Parameter Detail
155
[15] Axis Control Related Parameters (Extension Motion Control Each Axis Parameter)
It is not necessary to establish setting for those parameters above in ordinary use. Conduct
setting as necessary only when the axis use method is the drive invalid axis control.
No. Parameter Name Unit Input range
Initial value
(reference)
5 Number of pulses per one encoder rotation Pulse 1 ro 99999999 16384
6 Screw lead 0.001mm
１
to 99999999 10000
7 Software limit + 0.001mm
-99999999 to
99999999
1000
8 Software limit - 0.001mm
-99999999to
99999999
0
10 Electronic gear numerator - 1 to 99999999 1
11 Electronic gear denominator - 1 to 99999999 1
12 Maximum speed mm/sec 1 to 9999 100
13
Maximum acceleration
0.01G 1 to 300 30
14 Maximum deceleration 0.01G 1 to 300 30
[Caution]
Establish the slave addresses following the rules below.
1) Make sure not to have the slave addresses (extension add station addresses)
duplicated with other slaves.
2) Station addresses should be within the available range (03 to EF
H
) for setting.
3) Extension addresses should be within the available range (00 to FE
H
) for setting.
4) Make sure the extension addresses are assigned in a row from “0
H
”, and from a smaller
number to a bigger.
<Example for Setting 1 … Good Case>
• Axis No. 5 = 00 03
H,
• Axis No.6 = 01 03
H
, • Axis No.7 = 02 03
H
⇒
It is good as the extension addresses are in a row, and from small to big
<Example for Setting 1 …Not Good Case >
• Axis No. 5 = 00 03
H,
• Axis No.6 = 01 03
H
, • Axis No.7 = 02 03
H
⇒
It is not good as the extension address in Axis No. 6 is smaller than that in Axis No.
5 (numbers not from small to big)
5) For the axes with the same station address, the axis numbers should be in a row.
<Example for Setting 1 … Good Case>
• Axis No. 5 = 00 03
H,
• Axis No.6 = 01 03
H
, • Axis No.7 = 02 03
H
⇒
It is good as the axis numbers are in a row (5, 6, 7)
<Example for Setting 2 …Not Good Case >
• Axis No. 5 = 00 03
H,
• Axis No.6 = 01 03
H
, • Axis No.7 = 02 03
H
⇒
It is not good as the axis numbers are not in a row (there is an axis with different
station address between Axis No. 5 and No. 7)
ME0364-2B