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Chapter 7
Appendix
217
7.4.5 Setting of Parameters
Shown below, describes how to set the parameters necessary for using the work and tool
coordinate system features on the linear axis.
• By setting All Axes Parameter No. 55 “Coordinate System Definition 1 Control” to “1h”, the
coordinate system definition unit becomes effective.
No. Parameter name
Initial value
(Reference)
Input range Unit Access right Remarks
55
Coordinate System
Definition 1 Control
0H
0 ~
FFFFFFFFH
F
Bits 0-3 : Unit Valid Indication
(0: Invalid, 1: Valid)
Bits 4-31 : Reservation
• Indicate the physical axis applicable for the coordinate axes (X-axis, Y-axis, Z-axis and R-axis)
in the coordinate system in All Axes Parameter No. 56 “Coordinate System Definition 1
Constructing Axis Setting”.
No. Parameter name
Initial value
(Reference)
Input range Unit
Access
right
Remarks
56
Coordinate System
Definition 1
Constructing Axis
Setting
0H
0 ~
FFFFFFFFH
F
Bits 0 to 3: X Indicated Axis
Number
Bits 4 to 7: Y Indicated Axis
Number
Bits 8 to 11: Z Indicated Axis
Number
Bits 12 to 15: R Indicated Axis
Number
Bits 16 to 31: Reservation
(No applicable definition axis
when Axis No. = 0)
Stated below are the caution items regarding t he setting of All Axes Parameter No. 56. “5C0
Coordinate System Setting Error” will occur when there is an error in setting related to these
caution items described below.
x
The patterns of constructing axes that are av ailable to indicate should be either of “XY”,
“XYZ”, “XYZR” and “XYR”.
x
Duplicated indication of one physical axis is not allowed.
x
It is necessary that the axes indicated as t he X, Y and Z-axes are linear driving axes (Each
Axis Parameter No. 1 = “0”), and that the axis indicated as R-axis should be rotary driving
axis (Each Axis Parameter No. 1 = “1”).
x
The following axes cannot be indicated.
[Synchronized Slave Axes, Infinite Stroke Axes, Shortcut Control Valid Axes]
x
There may be a case that an error such as “D41 Coordinate System Data Management Domain ID
Error” occurs after conducting parameter writing → reboot when the coordinate system definition unit
gets activated by setting All Axes Parameter No. 55 for the first time.
In such a case, initialize the memory for the “coordinate system definition data” using the PC software or
a teaching pendant and then reboot the controller.
x
There will be limitation in some part of operation if indicated to the coordinate system definition unit axis.
(Refer to 3.1 for details.)