IAI America XSEL-KX - Manual (Page 320)

304
Appendix
3. Axis-Specific Parameters
No Parameter name
Default value
(Reference)
Input range Unit Remarks
1 For future extension
(Change prohibited)
1, 1, 0, 1 Reference
only
2~
5
(For extension) 0 ~
6 For future extension
(Change prohibited)
1, 1, 0, 0 Reference
only
0: Motor CCW → Positive direction on the
coordinate system
1: Motor CCW
→ Negative direction on the
coordinate system
7 Soft limit + 210000, 145000,
200000, 720000
-99999999 ~
99999999
0.001 deg,
0.001 mm
8 Soft limit – -30000, -145000,
0, -720000
-99999999 ~
99999999
0.001 deg,
0.001 mm
9 Soft-limit actual
position margin
1000 0 ~ 9999 0.001 deg,
0.001 mm
10 For future extension
(Change prohibited)
0 Reference
only
11 For future extension
(Change prohibited)
0 Reference
only
0: Negative end of the coordinate system
1: Positive end of the coordinate system
(Used only for axis 3 (Zc))
12 For future extension
(Change prohibited)
9000, 0, 0,
-90000
Reference
only
0.001 deg,
0.001 mm
13 For future extension
(Change prohibited)
0 Reference
only
14 For future extension
(Change prohibited)
0 Reference
only
15 For future extension
(Change prohibited)
0 Reference
only
16 For future extension
(Change prohibited)
0 Reference
only
17 For future extension
(Change prohibited)
0, 0, 10, 0 Reference
only
18 For future extension
(Change prohibited)
0, 0, 100, 0 Reference
only
19 For future extension
(Change prohibited)
0, 0, 20, 0 Reference
only
mm/sec (Used only for axis 3 (Zc))
20 For future extension
(Change prohibited)
0, 0, 3, 0 Reference
only
mm/sec Exercise caution, since limitations apply
depending on the read/encoder pulse count.
(Used only for axis 3 (Zc))
21 For future extension
(Change prohibited)
0, 0, 0, 0 Reference
only
0.001 mm (Positive value = Direction of moving away
from the end) (Used only for axis 3 (Zc). Fixed
to “0” for axis 1 (A1c), axis 2 (A2c) and axis 4
(Rc).)
22 Phase-Z position at
home return
1000, 1000, 500,
1000
0 ~
99999999
0.001 deg,
0.001 mm
Minimum allowable value of actual distance
(angle) between [search end (axis 3 (Zc)) or
reference position (eye mark) (axis 1 (A1c),
axis 2 (A2c) or axis 4 (Rc))] and phase Z
23 For future extension
(Change prohibited)
1 Reference
only
24 Push stop check time
upon movement to
absolute reset
position
700 1 ~ 5000 msec (Used only for axis 3 (Zc))
25 Push stop check time
at positioning
500 1 ~ 5000 msec
26 For future extension
(Change prohibited)
0 0H ~
FFFFFFFFH
27 Maximum motor
speed
5000 Reference
only
rpm
28 Maximum PTP speed 480, 480, 1393,
1200
1 ~ 9999 deg/sec,
mm/sec