IAI America ASEL - Manual (Page 392)

Appendix
Parameter Utilization
370
369
Appendix
D
es
cr
ip
tio
n
A
ct
io
n
P
ar
am
et
er
se
tti
ng
O
pe
ra
tio
n/
ou
tc
om
e
15
O
ut
pu
t a
s
ig
na
l w
he
n a
ll v
al
id
ax
es
h
av
e c
om
pl
et
ed
h
om
e
return.
A
d
es
ire
d o
ut
pu
t p
or
t c
an
b
e s
et
as
a
n a
ll-
va
lid
-a
xe
s h
om
e-
re
tu
rn
co
m
pl
et
e o
ut
pu
t.
Set the follow
ing
value in the I/O p
aramete
r “Output
fu
nc
tio
n s
el
ec
tio
n n
” c
or
re
sp
on
di
ng
to
th
e s
el
ec
te
d i
np
ut
port: I/O
p
ar
am
et
er
“O
ut
pu
t f
un
ct
io
n s
pe
ci
fic
at
io
n v
al
ue
” =
1
3
Th
e s
pe
ci
fie
d p
or
t w
ill
tu
rn
O
N
w
he
n a
ll
va
lid
a
xe
s h
av
e c
om
pl
et
ed
h
om
e r
et
ur
n.
16
Output a
warning
signal w
hen
th
e v
ol
ta
ge
o
f t
he
s
ys
te
m
-
m
em
or
y b
ac
ku
p
ba
tte
ry
b
ec
am
e
lo
w
.
A
d
es
ire
d o
ut
pu
t p
or
t c
an
b
e s
et
as
a
v
ol
ta
ge
-lo
w
w
ar
ni
ng
o
ut
pu
t
for the s
ystem
-m
emory
backup
battery.
Set the follow
ing
value in the I/O p
aramete
r “Output
fu
nc
tio
n s
el
ec
tio
n n
” c
or
re
sp
on
di
ng
to
th
e s
el
ec
te
d i
np
ut
port: I/O
p
ar
am
et
er
“O
ut
pu
t f
un
ct
io
n s
pe
ci
fic
at
io
n v
al
ue
” =
1
5
Th
e s
pe
ci
fie
d p
or
t w
ill
tu
rn
O
N
w
he
n t
he
vo
lta
ge
o
f t
he
s
ys
te
m
-m
em
or
y b
ac
ku
p
ba
tte
ry
b
ec
am
e l
ow
.
17
Output a
warning
signal w
hen
th
e v
ol
ta
ge
o
f t
he
a
bs
ol
ut
e
en
co
de
r b
at
te
ry
b
ec
am
e l
ow
.
A
d
es
ire
d o
ut
pu
t p
or
t c
an
b
e s
et
as
a
v
ol
ta
ge
-lo
w
w
ar
ni
ng
o
ut
pu
t
for the absolute
encoder batte
ry.
Set the follow
ing
value in the I/O p
aramete
r “Output
fu
nc
tio
n s
el
ec
tio
n n
” c
or
re
sp
on
di
ng
to
th
e s
el
ec
te
d i
np
ut
port: I/O
p
ar
am
et
er
“O
ut
pu
t f
un
ct
io
n s
pe
ci
fic
at
io
n v
al
ue
” =
1
6
Th
e s
pe
ci
fie
d p
or
t w
ill
tu
rn
O
N
w
he
n t
he
vo
lta
ge
o
f t
he
a
bs
ol
ut
e e
nc
od
er
b
at
te
ry
be
ca
m
e l
ow
.
18
R
el
ea
se
th
e b
ra
ke
u
si
ng
a
n
ex
te
rn
al
in
pu
t s
ig
na
l.
A
d
es
ire
d i
np
ut
p
or
t c
an
b
e s
et
a
s
a forced brake
-re
lease input.
S
et
th
e f
ol
lo
w
in
g
va
lu
e i
n e
ac
h I
/O
p
ar
am
et
er
“I
np
ut
fu
nc
tio
n s
el
ec
tio
n n
” c
or
re
sp
on
di
ng
to
th
e s
el
ec
te
d i
np
ut
port: I/O
p
ar
am
et
er
“I
np
ut
fu
nc
tio
n s
pe
ci
fic
at
io
n v
al
ue
” =
2
2
(Axis 1) I/O
p
ar
am
et
er
“I
np
ut
fu
nc
tio
n s
pe
ci
fic
at
io
n v
al
ue
” =
2
3
(Axis 2) Setting example) To set input port
No. 12 as the b
rake
release input for
axis 2, set “23” in
I/O pa
ramete
r N
o.
42.
Th
e b
ra
ke
w
ill
b
e f
or
ci
bl
y
re
le
as
ed
w
he
n
th
e s
pe
ci
fie
d p
or
t t
ur
ns
O
N
.
19
R
et
ai
n o
ut
pu
t c
on
di
tio
ns
u
po
n
actuation of an e
m
ergenc
y stop
or opening of t
he
safet
y gate.
Th
e m
in
im
um
a
nd
m
ax
im
um
output port
numb
ers can be set to
sp
ec
ify
a
ra
ng
e o
f o
ut
pu
ts
w
ho
se
co
nd
iti
on
is
to
b
e r
et
ai
ne
d.
I/O pa
rameter N
o. 70 = Min. outp
ut port num
ber
I/O pa
rameter N
o. 71 = Max.
out
put port nu
mber
Setting example) To retain th
e conditions of output
port
N
os
. 3
03
th
ro
ug
h 3
07
, s
et
a
s f
ol
lo
w
s:
I/O pa
rameter N
o. 70 = 303
I/O pa
rameter N
o. 71 = 307
m
T
he
c
on
di
tio
ns
o
f o
ut
pu
t p
or
t N
os
.
303 throu
gh 307
w
ill be retained
w
hen
th
e e
m
er
ge
nc
y s
to
p i
np
ut
tu
rn
s
O
N
o
r
th
e s
af
et
y g
at
e o
pe
ns
.
20
Start a program
w
hen the
emergenc
y stop input turns
ON
or the safet
y gat
e opens.
P
ro
gr
am
s t
ha
t c
an
b
e s
ta
rte
d i
n
th
es
e c
on
di
tio
ns
a
re
li
m
ite
d t
o
th
os
e n
ot
c
on
ta
in
in
g I
/O
pr
oc
es
si
ng
, c
al
cu
la
tio
n
processing or an
y othe
r
pr
oc
es
si
ng
in
vo
lv
in
g a
ct
ua
to
r
op
er
at
io
n (
P
IO
p
ro
ce
ss
in
g
programs
).
A PIO processing program to be st
ar
te
d i
n t
he
se
c
on
di
tio
ns
c
an
b
e
set. The pro
gram
number of t
he
ap
pl
ic
ab
le
P
IO
p
ro
ce
ss
in
g
program
, and the
minimum and
maximum outpu
t port numbe
rs
in
di
ca
tin
g t
he
ra
ng
e o
f p
ro
ce
ss
ed
outputs, are set
by
pa
ramete
rs.
Other
param
eter
No. 2 = PIO p
roc
essing program
number Other
param
eter
No. 70 = Min. out
put port nu
mber
Other
param
eter
No. 71 = Ma
x. ou
tput port n
umber
S
et
tin
g e
xa
m
pl
e)
T
o s
ta
rt p
ro
gr
am
N
o.
5
th
at
p
ro
ce
ss
es
output port
Nos.
303 throu
gh 307,
set as follow
s:
Other
param
eter
No. 2 = 5
Other
param
eter
No. 70 = 303
Other
param
eter
No. 71 = 307
m
P
ro
gr
am
N
o.
5
w
ill
s
ta
rt
w
he
n t
he
emergenc
y stop input turns
ON o
r the
sa
fe
ty
g
at
e o
pe
ns
.
Output p
ort N
os. 303 throu
gh 307
can
be
p
ro
ce
ss
ed
.