IAI America ASEL - Manual (Page 407)

Appendix
List of Parameters
385
Appendix
3. Axis-Specific Parameters
No Parameter name
Default value
(Reference)
Input range Unit Remarks
~
1 Axis operation type 0 0 ~ 1 0: Linear movement axis, 1: Rotational movement axis
(Angle control)
2 ~
5
(For expansion) 0 ~
6 Coordinate/physical-
operation direction selection
1 0 ~ 1 0: Motor CCW o Positive direction on the coordinate
system
1: Motor CCW o Negative direction on the coordinate
system
7 Soft limit + 50000 -99999999 ~
99999999
0.001 mm Fixed to 359.999 degrees internally in the index mode.
Invalid in the infinite-stroke mode.
8 Soft limit – 0 -99999999 ~
99999999
0.001 mm Fixed to 0 degree internally in the index mode. Invalid in
the infinite-stroke mode.
9 Soft-limit actual position
margin
2000 0 ~ 9999 0.001 mm Actual position margin in the positioning boundary
critical zone in the infinite-stroke mode
10 Home-return method 0 0 ~ 5 0: Search phase Z after end search, 1: Current position
0 home (This parameter can be specified only with
an incremental encoder. Pay attention to contact.), 2:
Current position = Preset home (This parameter can
be specified only with an incremental encoder. Pay
attention to contact.)
11 Home-return end-search
direction selection
0 0 ~ 1 0: Negative end of the coordinate system
1: Positive end of the coordinate system
12 Home preset value 0 -99999999 ~
99999999 0.001 mm
(Refer to axis-specific parameter No. 76)
13 SIO/PIO home-return order 0 0 ~ 16 Executed from the smallest one.
14 Home-sensor input polarity 0 0 ~ 2 0: Do not use, 1: Contact a, 2: Contact b
15 For future expansion 0 Reference
only
16 For future expansion 0 Reference
only
17 Initial home-sensor pull-out
speed at home return
10 1 ~ 100 mm/sec
18 For future expansion 100 Reference
only
19 End search speed at home
return
20 1 ~ 100 mm/sec
20 Phase-Z search speed at
home return
3 1 ~ 10 mm/sec Exercise caution, since limitations apply depending on
the read/encoder pulse count.
21 Offset travel distance at
home return
1000 -99999999 ~
99999999
0.001 mm Offset travel distance from the ideal phase-Z position
(Positive value = Applied in the direction of moving away
from the end) (Refer to axis-specific parameter No. 76)
* Note on absolute encoders
When a value near an integer multiple of the phase-Z
distance (including an offset travel distance of 0) is set
in this parameter, the servo will lock above phase Z
upon absolute reset. As a result, the coordinates may
shift by the pulses corresponding to the phase-Z
distance. Therefore, never set a value near an integer
multiple of the phase-Z distance.
(Provide a sufficient margin with respect to the servo
amplitude.)
22 Allowable phase-Z position
error check value at home
return
200 0 ~ 99999999 0.001 mm Minimum allowable distance between the end
(mechanical or LS) and phase Z in a rotary encoder
specification. Phase-Z search limit in a linear encoder
specification.
23 Phase-Z count per encoder
revolution
1 1 ~ 8 Only “1” can be set, in the case of an absolute encoder.
Invalid in the case of a linear encoder.
24 Push stop check time at
home return
700 1 ~ 5000 msec Used to confirm push action during home return.
25 Push stop check time at
positioning
500 1 ~ 5000 msec Used to confirm push action during PUSH command
operation.