IAI RA Series, Instruction Manual

Page: 42 / 186

4. Operation Program
34
4.2. Positioner Function
The positioning operation using position data is provided. Linear interpolation movement is
available as well as PTP.
This operation uses the expansion motion board axis actuator control command to operate.
4.2.1. Position Data Count
Position data is stored in the user data-hold memory
*1
within the main CPU board and specifies
the number of position data using I/O parameter No. 530 in the range from 1 to 512.
Due to limited capacity of the user data-hold memory, the number of positions stored decreases
as the number of effective axes increases. (See the table below.)
Used Axis
Number
Extension Motion Control Axis
Position Data Number MAX
Used Axis
Number
Extension Motion Control Axis
Position Data Number MAX
1 512 17 240
2 512 18 227
3 512 19 215
4 512 20 204
5 512 21 195
6 512 22 186
7 512 23 178
8 512 24 170
9 455 25 163
10 409 26 157
11 372 27 151
12 341 28 146
13 315 29 141
14 292 30 136
15 273 31 132
16 256 32 128
*1 User data-hold memory : It is a general-purpose memory area, where data is maintained by
Battery-less.
4.2.2. Editing the Position Data
Position data is created using PC Software for X-SEL. Target position, speed, acceleration,
deceleration, and position complete band can be set for each axis.
Select Controller, Ex Motion Control Board (X), and then Position (P) from the menu.
ME0364-2B