Nachi RMU20-20, Instruction Manual

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4.3Confirmation of parameters
4-20
Table 4-11 Axes parameters
Parameter Function
Link coef. 1 Unique parameter due to the robot type
Link coef. 2 Unique parameter due to the robot type
Link coef. 3 Unique parameter due to the robot type
Link coef. 4 Unique parameter due to the robot type
Link coef. 5 Unique parameter due to the robot type
Link coef. 6 Unique parameter due to the robot type
Pulse constant Needed encoder pulse to move specified angle for each joint
Joint pattern Parameter to define the moving construction for each joint
Axis constant Encoder data of zero degree position for each axis
Encoder offset Encoder offset parameter
Lower soft limit Software limit of lower side
Upper soft limit Software limit of upper side
Encoder type Parameter to define the encoder type
Radians/pulse Parameter to define the pulse count per one rotation of encoder
Std.pos.Enc Encoder data of reference position for each axis
Std.Pos.Angle Angle of reference position for each axis
Connection Parameter to connect or not to connect to the RMU (0=connect)
No. of poles Parameter to define the number of motor poles
Elec.Ang.Offset Parameter to define the electric angle offset
Stop watch limit Position abnormal deviation (pulse) when stop monitoring is input
Speed limit 1-4 Abnormal speed ratio (rpm) in high speed
Upper Zone limit 1-4 Upper limit of the Zone limit (deg or mm)
Lower Zone limit 1-4 Lower limit of the Zone limit (deg or mm)