IAI TTA Series, Инструкция по эксплуатации

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Chapter 5 List of Parameters
5.8 Parameters for Linear / Rotation Controls
203
5.8 Parameters for Linear / Rotation Controls
Shown in the list below are the combinations of parameters for linear and rotation controls:
Each Axis
Parameter
No.1
Axis
operation
type
Each Axis
Parameter
No.67
Short-cut
control
selection for
rotational
movement axis
Each Axis
Parameter
No.67
Short-cut
control
selection for
rotational
movement
axis
Each Axis
Parameter No.67
Short-cut control
selection for
rotational
movement axis
Current Position
Expression
(Approxima-tely)
Each Axis
Parameter
No.7
Soft limit
＋
Each Axis
Parameter
No.8
Soft limit-
Input Unit
0
(Normal Mode)
Counter Range Enable Enable
0
(linear
movement
axis)
1
(Infinite stroke
mode)
* Necessary to
consider duty
cycle and
timeout check
Disable Disable
-10000 to
9999.999
(Rotary)
Disable
(Note 1)
Disable
(Note 1)
• Distance mm
• Speed mm/sec
• Acceleration/
Deceleration G
0
(Normal
Mode)
0
(Short-cut control
not selected)
* Prohibited to
select a number
other than 0 in
Normal Mode
Counter Range Enable Enable
0
(Short-cut control
not selected)
Counter Range
1
(rotation
movement
axis)
Disable
1
(Index Mode)
1
(Short-cut control
selection)
0 to
359.999
(Rotary)
Disable
(Fixed at
359.999
inside)
Disable
(Fixed at 0
inside)
•
angle mm
→
deg
•
Angular velocity
mm/sec
→
deg/sec
•
Angular
acceleration and
deceleration G
= 9807mm/sec
2
→
9807deg/sec
2
= 9807×2π/360
rad/sec
2
* ”deg” shows the
angle of a solid of
revolution on the tip
(
Note 1): “Error No. CBE Target Tracking Data Boundary Violation Error” will be issued if having a positioning command except for ‘JxWx’ exceeding
the coordinate range approximately from -9990 to 9990.
: “Error No. CC5 Positioning Boundary Excess Error” will be issued if executing a positioning command except for ‘JxWx’ out of the
coordinate range approximately from -9990 to 9990.