IAI MSEL User Manual

Chapter 5 I/O Parameter
114
All Axes Common Parameters
No. Parameter name
Default value
(Reference)
Input range Unit Remarks
20
Maximum operation
acceleration/deceleration
ctheck timing
(For PC/PG/PCF/PGF type)
1
(PC/PG/
PCF/PGF),
0
(PCX/PGX)
0 ~ 1
* PC/PG is system reservation
0: Check at input 1: Check at operation
* For the check at operation, distribution speed (CP) of the
indicated velocity or the specified velocity (PTP) and the
maximum operation speed parameter of each axis are to
be compared and checked, and get clamped to the
available velocity.
Therefore, the maximum performance of the system
corresponding to the operation command can be
obtained, but a complete check cannot be made at the
input (because the start position of command or
operation is not constant).
Also, at CP, the distribution speed changes depending on
the operation start point, therefore, in case CP is
conducted from an unspecified position (such as the
position movement at the first), the speed changes
depending on the operation start position.
21
Maximum operation speed for
input value check
(PC/PG/PCF/PGF type)
SCARA axis CP Max. speed
(PCX/PGX type)
300
(PC/PG/
PCF/PGF),
270
(PCX/PGX)
1 ~ 9999 mm/s
* Differ depending on structure
When the maximum velocity check timing = at input in
PC/PG/PCF/PGF Types, check the input error with this
parameter.
22
Maximum acceleration
(PC/PG/PCF/PGF type)
SCARA axis CP Max.
acceleration
(PCX/PGX type)
100
(PC/PG/
PCF/PGF),
30
(PCX/PGX)
1 ~ 999 0.01G * Differ depending on structure
23
Maximum deceleration
(PC/PG/PCF/PGF type)
SCARA axis CP Max.
deceleration
(PCX/PGX type)
100
(PC/PG/
PCF/PGF),
30
(PCX/PGX)
1 ~ 999 0.01G * Differ depending on structure
24
Minimum Emergency
Deceleration
(PC/PG/PCF/PGF type)
SCARA axis CP Min.
emergency deceleration
(PCX/PGX type)
30 1 ~ 300 0.01G
25 System reservation 0 1 ~ 300 0.01G
26
System reservation
(Change prohibited)
0 0 ~ 5
27
System reservation
(Change prohibited)
0 0 ~ 5
28
(linear sliding axes) Inching →
jog auto-switching prohibition
0 0 ~ 5
0: Execute auto-switching (Continuous button ON timer),
1: Prohibited
* Referenced by the PC/TP
* Only for linear sliding axes
29 All-axis setting bit pattern 1 0 0H ~ FFFFFFFFH
Bits 0 to 3: Selection of use of last PC/TP inching
distance
(0: Do not use, 1: Use)
* Referenced by the PC/TP (Excluding
ANSI-compliant TP)
Bits 8 to 11: “Actual-position soft limit over (Servo)” error
level
(0: Operation-cancellation level,
1: Cold-start level,
2: Operation-cancellation level at reset,
thereafter cold-start level)
30 Default division angle 150 0 ~ 1200
0.1
degree
31 Default division distance 0 0 ~ 10000 mm
32
Arch-trigger start-point check
type
0 0 ~ 5
0: Operated amount and actual position checks
* Checks on J1 and J2 in SCARA Axis PTP for PCX/PGX
Types
1: Check operation amount only
33
Safety speed in manual mode
(PC/PG/PCF/PGF type)
SCARA axis CP safety speed
in manual mode
(PCX/PGX type)
250
(PC/PG/
PCF/PGF),
150
(PCX/PGX)
1 ~ 250 mm/s
* In PC/PG/PCF/PGF Types, this is treated as a value
below the minimum in Each Axis Parameter No. 29
“VLMX Velocity” on all the activated axes.

IAI MSEL Specifications

General

Brand	IAI
Model	MSEL
Category	Controller
Language	English