IAI America XSEL-KET - Manual (Page 396)

Appendi
x
INTELLI
GENT A
CTUAT
OR
377
 Combination Table of X-SEL Linear/Rotational Control Parameters
Support of encoder
processing method
Axis-
specific
parameter
No. 1: Axis
operation
type
Axis-
specific
parameter
No. 68:
Mode
selection
for linear
movement
axis
Axis-
specific
parameter
No. 66:
Mode
selection
for
rotational
movement
axis
Axis-
specific
parameter
No. 67:
Short-cut
control
selection
for
rotational
movement
axis
ABS INC
Expression
of current
position
(approx.)
Axis-
specific
parameter
No. 7: Soft
limit+
Axis-
specific
parameter
No. 7: Soft
limit-
Axis-specific
parameter
No. 44:
Length
measurement
correction
Axis-
specific
parameter
No. 47:
Screw lead
Axis-
specific
parameter
No. 50:
Gear
numerator
Axis-specific
parameter
No. 51: Gear
denominator
Input unit
0
(Normal
mode)
 
Counter
range
Valid Valid
0
(Linear
movement
axis)
1
(Infinite
stroke
mode)
* Duty
cycle
timeout
check must
be
examined.
Invalid Invalid
x 
-10000 
9999.999
(Rotary)
Invalid
(Note)
Invalid
(Note)
Valid Valid Valid Valid
 Distance
mm

Speed
mm/sec

Acceleration
/
deceleration
G
0
(Normal
mode)
0 (Short-
cut control
not
selected)
*
Specificatio
n of any
value other
than 0 is
prohibited
in the
normal
mode.
 
Counter
range
Valid Valid
0 (Short-
cut control
not
selected)
 
Counter
range
(Rotational
movement
axis)
Invalid
1
(Index
mode)
1 (Short-
cut control
selected)
x 
0  359.999
(Rotary)
Invalid
(Fixed to
359.999
internally)
Invalid
(Fixed to 0
internally)
Invalid Invalid Valid Valid
 Angle
mm  deg

Angular
velocity
mm/sec

deg/sec

Angular
acceleratio
n/decelerat
ion G
= 9807
mm/sec2
 9807
deg/sec2 =
9807 x
2
/360
rad/sec2
* Deg
values
indicate
angles of
the rotating
body at the
end.
(Note): A positioning command other than “JXWX,” which exceeds the coordinate range of approx. -9990 to 9990, will generate “Error No. CBC, Target data boundary pull-out error.”
(Note): Executing a positioning command other than “JXWX” outside the coordinate range of approx. -9990 to 9990 will generate “Error No. CC5, Positioning boundary pull-out error.”