IAI America XSEL-QX - Manual (Page 501)

477
Appendix
Com
bination
T
able of X-SEL
PX/QX
Axis 5/6 Linear/Rot
ary Control
Param
eter (Other than SCARA
Axes)
Permitted encod
er
processing method
Axis-specific parameter
No. 1, Axis operation type
Axis-specific parameter
No. 68, Mode selection
for linear movement axis
Axis-specific parameter
No. 66, Mode selection
for rotational movement
axis
Axis-specific parameter
No. 67, Short-cut control
selection for rotational
movement axis
ABS
Simulated
INC
IN
C
Expression of current
position (approx.)
Axis-specific parameter
No. 7, Soft limit +
Axis-specific parameter
No. 8, Soft limit –
Axis-specific parameter
No. 44, Length
measurement correction
Axis-specific parameter
No. 47, Screw lead
Axis-specific parameter
No. 50, Gear rati o
numerator
Axis-specific parameter
No. 51, Gear rati o
denominator
Input unit
0
(Normal mode
)
{{
{
Counter
range
Valid Valid
0
(Linear movement
axis)
1
(Infinite-stroke
mode)
* Dut
y
c
y
cle
timeout check
must be reviewe
d.
Invalid Invalid
x
{{
-10000 ~ 9999.999 (Rotar
y)
Invalid (Note)
Invalid (Note)
Valid
Valid
Valid
Valid
x
Distance
mm
x
Speed
mm/sec
x
Acceleration/ deceleration G
0
(Normal
mode)
0
(Short-cut cont
rol not
selected)
* “0” must be
specified if the n
o
rmal
mode is selected
.
{{
{
Counter
range
Valid Valid
0
(Short-cut cont
rol not
selected)
{{
{
Counter
range
1
(Rotational movement axis)
Invalid
1
(Inde
x
mode)
1
(Short-cut cont
rol
selected)
x
{{
0 ~ 359.999
(Rotar
y)
Invalid
(fixed to 359.999
internally)
Invalid
(fixed to 0 internally)
Invalid
Invalid
Valid
Valid
x
Angle
mm
o
de
g
x
Angular
speed
mm/sec
o
deg/sec
x
Angular acceleration/decel eration G = 9807 mm/sec2 o
9807 d
eg/sec2
= 9807 x 2
S
/360
rad/sec2
*
A “deg” value indicates the angle of the rotating bod
y at
the end.
(Note):
An
y
positi
oni
ng
command oth
er than “J
XWX” exce
ed
ing a c
oordi
nate ra
ng
e from appro
x.
-999
0 to 999
0 w
ill g
ener
ate a
n
“Err
or No. CBE,
T
a
rget-path data
bou
ndar
y ov
er error.”
Exec
utin
g an
y
positio
ni
ng co
mmand
oth
er than “J
XW
X” ou
tside a coor
din
ate rang
e from appr
o
x
. –999
0
to 9990
w
ill g
e
nerate a
n
“Err
or No. CC5,
Positioning boundar
y
pul
l-out
error.”