IAI X-SEL PX, Руководство по эксплуатации, Страница: 473 / 560

445
Appendix
Parameters Common to All Axes
No. Parameter name
Default value
(Reference)
Input range Unit Remarks
29 All-axis setting bit
pattern 1
10000H 0H ~
FFFFFFFFH
Bits 0 to 3: (For future extension)
Bits 4 to 7: Overrun (servo) error level
(0: Operation-cancellation level
1: Cold-start level
2: Operation-cancellation level at reset,
thereafter cold-start level)
Bits 8 to 11: “Actual-position soft limit over (servo)”
error level (0: Operation-cancellation
level, 1: Cold-start level, 2: Operation-
cancellation level at reset, thereafter cold-
start level)
Bits 12 to 15: For future extension
Bits 16 to 19: Absolute-data backup battery voltage
error level
(0: Operation-cancellation level
1: Message level
(Main application version 0.17 or later)
30 Default division angle 150 0 ~ 1200 0.1 deg
31 Default division distance 0 0 ~ 10000 mm
32 Arch-trigger start-point
check type
0 0 ~ 5 0: Check operation amount and actual position
(A1c/A2c during SCARA-axis PTP)
1: Check operation amount only
33 CP safety speed of
SCARA axis in manual
mode
250 1 ~ 250 mm/s
34 PTP safety speed of
SCARA axis in manual
mode
3 1 ~ 10 %
35 Maximum jog speed for
each SCARA axis
system
5 1 ~ 10 %
36 Maximum jog speed for
each SCARA axis
system before
confirmation of
coordinates
3 1 ~ 10 %
37 Maximum SCARA axis
speed under J

W

command
250 1 ~ 500 mm/s
38~
43
(For extension) 0 ~
44 PTP SM control ratio for
SCARA axis
3 0 ~ 50 %
45 Radius of circle
prohibiting entry of tool
reference point for
SCARA axis
150000 0 ~ 999999 0.001
mm
For simple check. (Radius of a circle centered around
the axis of arm 1)
46 CPxy check tolerance
for SCARA axis
2000 100 ~ 9999 0.001
mm
47 Default PTP
acceleration of SCARA
axis
20 1 ~ 100 % Used if not specified in position data, program or SIO
message, etc.
48 Default PTP
deceleration of SCARA
axis
20 1 ~ 100 % Used if not specified in position data, program or SIO
message, etc.
49 Default PTP speed of
SCARA axis
2 1 ~ 100 % Used if not specified in SIO message or during
continuous recovery movement, etc.
50 Width of SCARA-axis
CP-operation restriction
zone near arm 1/2
straight-line point
500 Reference only 0.001
mm
For adjustment by the manufacturer
446
Appendix
Parameters Common to All Axes
No. Parameter name
Default value
(Reference)
Input range Unit Remarks
51 SCARA axis control 1 0H 0H ~
FFFFFFFFH
Bits 8 to 11: Z position

horizontal move optimization
for SCARA (PTP)
(0: Disable
1: Enable)
(Available only on high-speed SCARA robots of main
application version 0.45 or later.)
Bits 12 to 15: Z position

horizontal move optimization
for SCARA (CP)
(0: Disable
1: Enable)
* It is recommended to disable this function if CP
operation must be performed at a constant speed
with accurate locus and the set speed must be
reached.
(Available only on high-speed SCARA robots of main
application version 0.45 or later.)
52 ~
60
(For extension) 0
61 ~
109
(For extension)
110
~
130
(For extension) ~
131 Reserved by the system
(Change prohibited)
0 0 ~ 5
132 Maximum loading
capacity for load at tip
(SCARA axis)
10000 1 ~ 99999999 9
133 Maximum allowable tip
load inertial moment
(SCARA axis)
60000 1 ~ 99999999 kg-
mm^2
134 Reserved by the system
(Change prohibited)
0 0 ~ 5
135 Reserved by the system
(Change prohibited)
0 0 ~999
136 Reserved by the system
(Change prohibited)
0H 0H ~
FFFFFFFFH
139 Reserved by the system
(Change prohibited)
50891 1 ~ 99999999 For adjustment by the manufacturer.
140 Reserved by the system
(Change prohibited)
98000 1 ~ 99999999 For adjustment by the manufacturer.
141~
199
(For extension) ~
200 Default acceleration of
linear movement axis
30 1 ~ 200 0.01 G Used if not specified in position data, program or SIO
message, etc.
* Valid for linear movement axes (axes 5 and 6 (6-axis
type)) only.
(Main application version 0.12 or later)
201 Default deceleration of
linear movement axis
30 1 ~ 200 0.01 G Used if not specified in position data, program or SIO
message, etc.
* Valid for linear movement axes (axes 5 and 6 (6-axis
type)) only.
(Main application version 0.12 or later)
202 Default speed of linear
movement axis
30 1 ~ 250 mm/sec Used if not specified in SIO message or position data or
during continuous recovery movement, etc.
* Valid for linear movement axes (axes 5 and 6 (6-axis
type)) only.
(Main application version 0.12 or later)
203 Maximum acceleration
of linear movement axis
100 1 ~ 999 0.01 G * Valid for linear movement axes (axes 5 and 6 (6-axis
type)) only.
(Main application version 0.12 or later)
PC: PC software
TP: Teaching pendant
449