IAI America XSEL-QX - Manual (Page 480)

456
Appendix
Axis-Specific Parameters
No. Parameter name
Default value
(Reference)
Input range Unit Remarks
136 Minimum PTP
emergency
deceleration of
SCARA axis
2700,
5400,
160,
11000,
0,
0
1 ~ 99999999 0.01 G,
deg/sec
2
Set in units of 0.01 G only for axis 3 (Zb).
Set in deg/sec
2
for other SCARA axes.
137 For future extension
(Change prohibited)
0 0H ~
FFFFFFFFH
138 Arm length 250000,
250000,
0,
0,
0,
0
1 ~ 99999999 0.001 mm (Used only for axis 1 (A1c) and axis 2
(A2c))
139 Rear entry prohibition
area MAX (Xb) for
SCARA axis
100000,
0,
0,
0,
0,
0
-99999999 ~
99999999
0.001 mm For simple check. (Used only for axis 1
(Xb))
140 Rear entry prohibition
area MIN (Xb) for
SCARA axis
-100000,
0,
0,
0,
0,
0
-99999999 ~
99999999
0.001 mm For simple check. (Used only for axis 1
(Xb))
141 Reference position
coordinates at
automatic update of
home preset value
90000,
0,
0,
-90000,
0,
0
-99999999 ~
99999999
0.001 mm
142 Selection of SCARA
R-axis o Z-axis
correction coordinate
direction
0 0 or 1 0: Correction from positive direction of
R-axis coordinate to positive direction
of Z-axis coordinate
1: Correction from positive direction of
R-axis coordinate to negative
direction of Z-axis coordinate
(Used only for axis 3 (Zc))
143 Limit entry angle into
SCARA-axis CP-
operation restriction
zone based on actual
position (A2c)
0,
0,
0,
0,
0,
0
Reference
only
0.001 deg For adjustment by the manufacturer
144 End-offset travel
distance at standby in
reference position
0,
0,
5500,
0,
0,
0
-99999999 ~
99999999
0.001 mm (Positive value = Direction of moving
away from the end)
(Used only for axis 3 (Zc))