IAI MSEL, Инструкция по эксплуатации, Страница: 147 / 234

Chapter 5 I/O Parameter
139
5.8 Parameters for Linear / Rotation Controls
Shown in the list below are the combinations of parameters for linear and rotation controls:
Inpu
t Uni
t
• Dist
ance mm
•
S
pe
ed
m
m
/se
c
•
A
ccelera
tion
/
D
ecel
eration G
• angle
mm → de
g
•
An
gular
velocity
m
m/sec →
deg
/se
c
•
An
gular
a
ccel
erati
on
and
de
celera
tion
G
= 9807mm/se
c
2
→ 9807
deg/se
c
2
= 9807×2
π
/360
rad/sec
2
* ”d
eg” sho
ws t
he
a
ngle
of a
s
olid
of
re
volu
tion
on the tip
Each
A
xi
s
Parameter
No.51
Gear Ra
tio
Numera
tor
Each
A
xi
s
Parameter
No.50
Gear Ra
tio
Numera
tor
E
na
bl
e
Enable
Each
A
xi
s
Parameter
No.47
Scre
w Lead
Each
A
xi
s
Parameter
No.44
Measuremen
t
Adjustment
Enable
Di
sable
Each
A
xi
s
Parameter
No.
8
Sof
t limit-
Di
sable
(Fixed at 0
inside)
Each
A
xi
s
Parameter
No.
7
Sof
t limit+
Enable
Di
sable
(
N
ot
e
1)
Enable
Di
sable
(Fixed at
359.999
inside)
C
ur
re
nt
P
os
itio
n
Expre
ssion
(Appro
ximatel
y)
Coun
ter
range
-10000 to 9999.99
9
(Rot
ar
y)
Coun
ter
range
Coun
ter
range
00 to
359.999
(Rot
ar
y)
Inc
re
m
ent
al
○ ○ ○ ○ ○
S
im
ple
AB
S
○

○ ○ ○
E
nc
od
er
P
ro
ce
ss
T
yp
e
Accepted/Una
ccepte
d
Battery-
less
ABS
○

○ ○

Each
A
xi
s
Param
eter
No
.67
Short-
cu
t Con
trol
Selection
fo
r
Rot
ational
M
ovem
ent
A
xi
s
0
(No
sh
or
tcu
t)
0
(No
sh
or
tcu
t)
1
(Shortcu
t con
trol)
Each
A
xi
s
Parameter
No.66
Rot
ation
Mov
ement
Axi
s Mode
Select
Di
sable
0
(Normal
mode)
1
(Inde
x mod
e)
Each
A
xi
s
Parameter
No.68 Linear
Sliding
A
xi
s
Mode Sele
ct
0
(Normal
mode)
1
(Infinite
str
oke
mode)
Di
sable
Each
A
xi
s
Parameter
No.
1
Axi
s op
eration
ty
pe
0
(linear
m
ovem
ent
a
xi
s)
1
(rot
ati
on
m
ovem
ent
a
xi
s)
(
No
te
1): “E
rror
No
. CBE
Ta
rg
et
T
ra
cki
ng Dat
a Bound
ary V
iolati
on
E
rror”
will be i
ssu
ed i
f having
a po
siti
oning
comm
and e
xcept f
or ‘
JxWx’
exceed
ing the
coordin
ate
r
ange
appro
xima
tely
from
-
9990
to
9990
.
: “E
rror
No. CC5
Po
sit
ion
ing
Bound
ary Excess Error
” will
b
e iss
ue
d i
f exe
cu
tin
g a posi
tion
ing
com
m
and e
xce
pt fo
r ‘
JxWx’
out o
f the
co
or
dinate
rang
e app
ro
ximate
ly from -99
90
to
9990.