IAI America XSEL-QX - Manual (Page 473)

449
Appendix
Axis-Specific Parameters
No. Parameter name
Default value
(Reference)
Input range Unit Remarks
14 Home-sensor input
polarity
0 0 ~ 2
Reference only
for SCARA axes
(axes 1 to 4)
0: Not used, 1: Contact a, 2: Contact b
15 Overrun-sensor input
polarity
0 0 ~ 2
Reference only
for SCARA axes
(axes 1 to 4)
0: Not used, 1: Contact a, 2: Contact b
16 Creep-sensor input
polarity
0 0 ~ 2
Reference only
for SCARA axes
(axes 1 to 4)
0: Not used, 1: Contact a, 2: Contact b
17 Default home-sensor
pullout speed at
movement to absolute
reset position/home
return
0,
0,
10,
0,
10,
10
1 ~ 100
Reference only
for SCARA axes
(axes 1 to 4)
mm/sec
18 Creep speed at
movement to absolute
reset position/home
return
0,
0,
100,
0,
100,
100
1 ~ 500
Reference only
for SCARA axes
(axes 1 to 4)
mm/sec End-search speed in the creep sensor non-
detection section when a creep sensor is used.
19 End-search speed at
movement to absolute
reset position/home
return
0,
0,
20,
0,
20,
20
1 ~ 100
Reference only
for SCARA axes
(axes 1 to 4)
mm/sec (Used for SCARA axis 3 (Zc) and linear
movement axes (axes 5 and 6 (6-axis type)))
20 Phase-Z search speed at
movement to absolute
reset position/home
return
0,
0,
3,
0,
3,
3
1 ~ 10
Reference only
for SCARA axes
(axes 1 to 4)
mm/sec Exercise caution, since limitations apply
depending on the read/encoder pulse count.
(Used for SCARA axis 3 (Zc) and linear
movement axes (axes 5 and 6 (6-axis type)))
21 Offset travel distance at
movement to absolute
reset position/home
return
0,
0,
0,
0,
1000,
1000
-99999999 ~
99999999
Reference only
for SCARA axes
(axes 1 to 4)
0.001 mm (Positive value = Direction of moving away from
the end)
(Used for SCARA axis 3 (Zc) and linear
movement axes (axes 5 and 6 (6-axis type)))
(Fixed to “0” for axis 1 (A1c), axis 2 (A2c) and axis
4 (Rc).)
* Point to note when an absolute encoder is used
If a value near an integer multiple of the phase-Z
interval distance (including offset travel distance
0) is set for this parameter, servo lock will occur
over phase Z upon when an absolute reset is
performed. As a result, the coordinates may shift
by the phase-Z interval pulses.
Never set a value near an integer multiple of the
phase-Z interval distance.
(Provide a sufficient margin with respect to the
servo amplitude.)