IAI America XSEL-QX - Manual (Page 474)

450
Appendix
Axis-Specific Parameters
No. Parameter name
Default value
(Reference)
Input range Unit Remarks
22 Phase-Z position at home
return
1000,
1000,
500,
1000,
500,
500
0 ~ 99999999 0.001 mm,
0.001 deg
[SCARA axes (axes 1 to 4)]
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
[Linear movement axes (axes 5 and 6) (6-axis
type)]
With a rotary encoder, this parameter indicates
the minimum allowable actual distance between
the end (mechanical end or LS) and phase Z.
With a linear encoder, it indicates the phase-Z
search limit.
23 Phase Z count per
encoder rotation
1 1 ~ 8
Reference only
for SCARA axes
(axes 1 to 4)
Only “1” can be set, if an absolute encoder is
used.
24 Push-motion stop
confirmation time at
movement to absolute
reset position/home return
700 1 ~ 5000 msec Used for confirmation of push motion operation at
movement to absolute reset position/home return.
(Used for SCARA axis 3 (Zc) and linear
movement axes (axes 5 and 6) (6-axis type)))
25 Push stop check time at
positioning
500 1 ~ 5000 msec Used for confirmation of push motion operation
effected by a PUSH command.
26 For future extension
(Change prohibited)
0 0H ~ FFFFFFFFH
27 Maximum motor speed 5000 Reference only rpm,
mm/sec
For adjustment by the manufacturer
28 Maximum PTP speed
(SCARA axis)/maximum
operating speed of each
axis (linear movement
axis)
480,
480,
1393,
1200,
1000,
1000
1 ~ 9999 mm/sec,
deg/sec
* Maximum SCARA PTP speed for SCARA axes
(axes 1 to 4)
(The maximum SCARA CP speed is set by all-
axis parameter No. 21)
29 VLMX speed of linear
movement axis
0,
0,
0,
0, 1000, 1000
1 ~ 9999 mm/s * Valid for linear movement axes (axes 5 and 6 (6-
axis type)) only.
(Main application version 0.12 or later)
30 Servo ON check time 150 0 ~ 5000 msec Brake is installed: Time after acquisition of
servo ON start response
until start of brake unlock
Brake is not installed: Time after acquisition of
servo ON start response
until transition to
operation-enabled status
31 Offset travel speed at
movement to absolute
reset position/home return
0,
0,
3,
0,
3,
3
1 ~ 500
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))
32 Actual distance between
phase Z and end
-1 -1 ~ 99999 0.001 mm Absolute distance from the search end. Obtained
automatically if the distance is a negative value.
When multiple actuators are combined, it is
recommended to write the flash ROM after
automatic acquisition.
(Used for SCARA axis 3 (Zc) and linear
movement axes (axes 5 and 6 (6-axis type)))
33 Ideal distance between
phase Z and end
0 0 ~ 99999 0.001 mm Absolute distance from the search end.
(Used for SCARA axis 3 (Zc) and linear
movement axes (axes 5 and 6 (6-axis type)))