IAI RA Series, Instruction Manual

Page: 164 / 186

6. Parameter Detail
156
[16] Software limit margin (Extension Motion Control Each Axis Parameter No. 9)
No. Parameter Name Unit Input range
Initial value
(reference)
9 Software limit margin 0.001 mm 0t o 9999 300
This parameter sets the exceeded amount from software limit at which an error is detected
while synchronous movement is being performed. A software limit error occurs at (unit: 0.001
mm) or less.

Command position > [software limit +] + [software limit margin]

Command position < [software limit -] - [software limit margin]
When expanding the margin, without any parameter adjustment on the RC controller, XSEL and
RC controller may identify the margin incorrectly, and may cause Alarm Code 0D9 “Excess Soft
Limit Error” on the RC controller.
Establish the setting in each device to satisfy the relation stated below, and the soft limit margin
setting in XSEL and RC match with each other.
“XSEL Side Soft Limit Margin” = “RC Side Software Limit Margin (*)” + 0.3mm
(*Parameter No. 88 “Software Limit Margin”)
Also, when expanding the margin, pay attention to interference to surroundings such as the
stroke end and workpiece.
[17] Deceleration at synchronization operation end (Each Axis Parameter No. 209)
Deceleration at synchronization operation end (Extension Motion Control Each Axis Parameter
No. 15)
[Each Axis Parameter]
No. Parameter Name Unit Input range
Initial value
(reference)
209 Deceleration at synchronization operation end 0.01G 1 to 300 30
[Extension Motion Control Each Axis Parameter]
No. Parameter Name Unit Input range
Initial value
(reference)
15 Deceleration at synchronization operation end 0.01G 1 to 300 30
This parameter sets the stopping deceleration at ending synchronization operation due to
completion of execution of one cycle of synchronized electronic cam operation and
synchronization operation end command, etc. (unit: 0.01 G)
For the destination for setting, follow the description below in accordance with the axis use
method.
Standard Driver Control : Each Axis Parameter No.209
Others : Extension Motion Control Each Axis Parameter No.15
When a slave axis is operated at a point near the stroke end, the risk of detecting
“Command Position Excess Soft Limit” gets higher as this deceleration setting is lower.
Therefore, in case it is required to operate a slave axis around the stroke end, set this
setting as high as possible considering the deceleration of the master axis, table profile
and so on. (However, it is necessary to consider maximum acceleration and load condition
of the actuator when increasing the deceleration.)
ME0364-2B