IAI America XSEL-QX - Manual (Page 469)

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