IAI X-SEL, Operation Manual

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Appendix
Appendix
Axis-Specific Parameters
No. Parameter name
Default value
(Reference)
Input range Unit Remarks
52 Synchro setting bit pattern 1 0 0H to
FFFFFFFFH
* Effective only when specified for the synchro slave axis.
(Main application version 0.62 or later)
Bits 8 to 11: Selection of use of Z-phase of the synchro slave axis during
home return of the incremental encoder (INC-INC control)
(0: Do not use Z-phase of the slave axis
1: Use not use Z-phase of the slave axis)
* If Z-phase of the slave axis is used, the following parameters of the slave
axis will become effective: “Axis-specific parameter No. 21, Offset travel
distance at home return”
“Axis-specific parameter No. 12, Home preset value”
* Adjustment method when Z-phase of the slave axis is used
[1] Complete a home return in the synchronized mode.
• Ignore the “Error No. D0A, Driver overload error” that generates upon
completion of home return.
• If an “Error No. C9C, Defective phase-Z position error” generates, the
relationship of the installed positions of both synchro axes must be
adjusted.
• If an “Error No. C72/D6B, Overrun error” generates, adjust the relationship
of the installed positions of both synchro axes or set “Axis-specific
parameter No. 15, Overrun-sensor input polarity” to “0 (Do not use)” and
stop using the overrun sensor.
[2] Turn the servo OFF by actuating an emergency stop.
[3] Align the physical position relationship of the synchro master axis and
slave axis and then read off their present position coordinates.
[4] Calculate the value of “present position coordinates of synchro slave
axis – present position coordinates of synchro master axis” and set
the calculated value in “Axis-specific parameter No. 21, Offset travel
distance at home return” for the synchro slave axis (Exercise caution
that unit conversion is required in the above calculation.)
[5] Write the data to the flash ROM, and then execute a software reset or
power ON reset of the controller.
* Effective only when specified for the synchro slave axis.
(Main application version 0.63 or later)
53 Setting bit pattern 1 of each
axis 0 0H to
FFFFFFFFH
54 Travel distance for push stop
detection at home return 20 1 to 99999 0.001 mm Used to confirm pushing action at the time of home return.
55 Travel distance for push
stop detection at positioning 30 1 to 99999 0.001 mm Used to confirm pushing action according to the PUSH command.
56 Push-abort deviation ratio at
home return 2000 1 to 99999 'HYLDWLRQLVFRPSDUHGDJDLQVW³6WHDG\VWDWHGHYLDWLRQRISXVKVSHHG
Push-speed pulse speed x Abort deviation ratio.”
57 Push-abort deviation ratio at
positioning 5000 1 to 99999
'HYLDWLRQLVFRPSDUHGDJDLQVW³6WHDG\VWDWHGHYLDWLRQRISXVKVSHHG
Push-speed pulse speed x Abort deviation ratio.”
58 Positioning band 100 1 to 9999 0.001 mm * Related information: Axis-specific parameter No. 52
59 Allowable deviation error ratio
(Maximum speed pulse ratio) 27 1 to 99 Deviation is compared against “Steady-state deviation of maximum
RSHUDWLQJVSHHGRIHDFKD[LV3XOVHVSHHGRIPD[LPXPRSHUDWLQJVSHHG
of each axis x Allowable deviation error ratio.”
60 Position gain 30 1 to 9999 /s
61 FAG 0 0 to 99
62 Synchro FB gain 77 0 to 1000
63 Stop special output range 1 0 to 9999 Pulse Invalid if “0” is set.
64 Stop special output value 1 0 to 999 DRVVR
65 Mating synchro-axis number 0 0 to 8 Must be input for both axes. (Of the axis pair, the axis with the smaller axis
number becomes the master axis. Both axes must have the same resolution
characteristics. Commands cannot be issued to the slave axis.)
* The actuators must be installed by physically aligning the “positions at the
end of home return” of the synchro master and slave axes. (Invalid if “0” is
set)
66 Mode selection for rotational
movement axis 0 0 to 5 0: Normal, 1: Index mode
67 Short-cut control selection for
rotational movement axis 0 0 to 5 0: Do not select, 1: Select (Valid only in the index mode AND when an
incremental encoder is used)
68 Mode selection for linear
movement axis 0 0 to 5 0: Normal, 1: Infinite-stroke mode (Note: Positioning boundary applies. This
setting can be specified only when an incremental encoder is used.)
69 Torque limit upon stopping of
synchro slave axis 0 0 to 70 % Not limited, if “0.” Effective only when specified for the synchro slave axis.
* Related information: Axis-specific parameter No. 52
(Main application version 0.59 or later)
70 For future expansion 0 Reference
only
71 For future expansion 0 Reference
only