Denso SMT7 - Page 59

Chapter 4 Configuring the Joint Parameters
43
List of Path Configuration Parameters
Parameter name Entry range
Factory
default
Unit Description Remarks
Controller
restart
Boundless rotation
(0: Limited,
1: Boundless)
0 or 1 0
To rotate the motor 32768
times or more in the same
direction, set this parameter
to 1.
Setting this
parameter to "1:
Boundless" requires
the Motion limit
detection parameter
to be set to "0:
Invalid."
Needed
Joint structure
(0: Sliding,
1: Rotary)
0 or 1 1 If your optional mechanism
to be connected to the
specified motor has a
sliding joint, then set 0; if a
rotary joint, set 1.
Needed
Motor rotation
direction
(0: CCW, 1: CW)
0 or 1 0 To convert the CCW
rotation of the specified
motor (when viewed from
the load side) to the
positive direction
movement of the connected
mechanism, set 0; to
convert it to the negative
one, set 1.
Needed
Motor max. speed
(rpm)
1 to 5000 3000 rpm Set the maximum speed of
the specified motor.
Needed
Motor acceleration
time (ms)
1 min. 200 ms Set the motor acceleration
time required for the
specified motor to reach the
maximum speed.
Needed
Gear ratio or lead
(mm/r)
0.00001
min.
100
For lead:
mm/r
For rotary joints, set the
deceleration ratio (motor
rotation/joint rotation).
For sliding joints, set the
lead (movement) per motor
rotation.
Up to 100,000 may
be set. But if a large
value is set, the
entered value may
be different from the
displayed one due
to overflow.
Needed
Motion limit
detection
(0: Invalid, 1: Valid)
0 or 1 1
To make the controller
check the motion limit and
issue an error if the
specified joint is out of the
range, set 1.
Setting the
Boundless rotation
parameter to "1:
Boundless" requires
this parameter to be
set to "0: Invalid."
Needed
Positive motion
limit
(deg.) (mm)
360
For rotary
joints:
degrees
For sliding
joints: mm
Set the positive motion
limit.
Not needed
Negative motion
limit
(deg.) (mm)
-360
For rotary
joints:
degrees
For sliding
joints: mm
Set the negative motion
limit.
Not needed
CALSET position 0
For rotary
joints:
degrees
For sliding
joints: mm
Set the CALSET reference
position.
Not needed
Radius of gyration
(mm)
0 to 100000 1000 mm
For rotary joints, set the
maximum radius of rotation.
For sliding joints, no setting
is required.
Needed