IAI Rcon, Инструкция по эксплуатации, Страница: 251 / 838

3.8 I/O Signals
A3-148
ME0384-4A
Chapt
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Uni
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Spec
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Precautions for Rotary Type
(1) Homing direction
Home position is the counter-clockwise moving end of the output shaft.
The multi-rotation specification includes a reverse-rotation specification. For reverse-rotation
specification, the homing direction is clockwise.
Caution
● If the homing direction is changed by changing the parameter after delivery, the homing
direction will be reversed. However, do not change the parameter of homing direction,
as the home position will deviate due to structural reasons.
(2) Operation (position setting) range
Position value is the travel angle from home position.
[330-degree Rotation Specification]
Position specification range 0~330 degrees
[Multi-rotation Specification]
The multi-rotation specification actuator has two operation modes: normal mode with finite
rotation and index mode
(Note 1) capable of multiple rotation. The operation mode can be selected
in parameter No. 79 "Rotary axis mode select". In addition, shortcut selection can be set to
enabled/disabled in parameter No. 80 "Rotary axis shortcut select".
The table below shows the parameter settings and operation specifications in the respective
modes.
Rotary axis
mode select
Parameter No.79
Rotary axis
shortcut select
Parameter No.80
Present
position
display
(Note 3)
Absolute position
command
range
(Note 3)
Relative position
command
range
(Note 3)
Software limit
Enabled/disabled
0
(Normal mode) 0 (Disabled)
-9,999.99
to 9,999.99 (Note 2)
-0.15
to 9,999.15 (Note 2)
-9,999.30
to 9,999.30 (Note 2)
Enabled
1
(Index mode)
0 ~ 359.99 0 ~ 359.99 0 ~ 359.99
-360.00
~ 360.00
Disabled
Note 1: Index mode cannot be used for actuators with absolute specification that do not use DD
motors.
Note 2: Restricted to the range of the software limit.
Note 3: The minimum resolution of the DD motor is 0.001°.