IAI MSEL User Manual

Chapter 5 I/O Parameter
118
All Axes Common Parameters
No. Parameter name
Default value
(Reference)
Input range Unit Remarks
130
Vision system I/F 1 control 2
(For PC/PG/PCF/PGF type)
0H 0H ~ FFFFFFFFH
* PCX/PGX is system reservation
Bits 0 to 7: Position judgment datum distance in Z-axis
direction [0.1mm]
(In installation with robot on top, invalid when
set to “0”)
* Effective only when Bit 8-11 = 1 in All Axes
Common No. 130
Bits 8 to 11: Vision installation type
( 0: Solid installation (not installed on robot))
1: Installation on robot)
* Setting is to be established at vision system
I/F adjustment.
Bits 12 to 31: Reserved
131
System reservation
(Change prohibited)
0 0 ~ 5
132
SCARA tip load Max.
transportable weight
(For PCX/PGX type)
3000 1 ~ 99999999 g * PC/PG/PCF/PGF is system reservation
133
SCARA tip load Max.
allowable moment of inertia
(For PCX/PGX type)
4000 1 ~ 99999999 Kgmm
2
* PC/PG/PCF/PGF is system reservation
134 (For extension) 0 ~
135 (For extension) 0 ~
136
SCARA function information 1
(For PCX/PGX type)
30H 0H ~ FFFFFFFFH
* PC/PG/PCF/PGF is system reservation
For adjustment by the manufacturer
137
SCARA tip load rated
transportable weight
(For PCX/PGX type)
1000 0 ~ 99999999 g * PC/PG/PCF/PGF is system reservation
138 (For extension) 0 ~
139
System reservation
(Change prohibited)
13720 1 ~ 99999999
For adjustment by the manufacturer
140
System reservation
(Change prohibited)
97500 1 ~ 99999999
For adjustment by the manufacturer
141 (For extension) 0 ~
142 (For extension) 0 ~
143 (For extension) 0 ~
144 (For extension) 0 ~
145 (For extension) 0 ~
146 (For extension) 0 ~
147 (For extension) 0 ~
148 (For extension) 0 ~
149 (For extension) 0 ~
150 (For extension) 0 ~
151
~
199
(For extension) 0 ~
200
Linear sliding axis default
acceleration
(For PCX/PGX type)
20 1 ~ 200 0.01G
* PC/PG/PCF/PGF is system reservation
Used when not indicated in position data, program and SIO
message, in continuous recovery movement, etc.
201
Linear sliding axis default
deceleration
(For PCX/PGX type)
20 1 ~ 200 0.01G
* PC/PG/PCF/PGF is system reservation
Used when not indicated in position data, program and SIO
message, in continuous recovery movement, etc.
202
Linear sliding axis default
speed
(For PCX/PGX type)
30
1 ~ 250
mm/s
* PC/PG/PCF/PGF is system reservation
Used when not indicated in position data, program and SIO
message, in continuous recovery movement, etc.
203
Linear sliding axis maximum
acceleration
(For PCX/PGX type)
100 1 ~ 999 0.01G * PC/PG/PCF/PGF is system reservation
204
Linear sliding axis maximum
deceleration
(For PCX/PGX type)
100 1 ~ 999 0.01G * PC/PG/PCF/PGF is system reservation
205
Linear sliding axis minimum
emergency deceleration
(For PCX/PGX type)
30 1 ~ 300 0.01G * PC/PG/PCF/PGF is system reservation
206
Linear sliding axis safety
speed in manual mode
(For PCX/PGX type)
250 1 ~ 250 mm/s * PC/PG/PCF/PGF is system reservation
207 (For extension) 0 ~
208 (For extension) 0 ~
209 (For extension) 0 ~
210
~
400
(For extension) 0 ~

IAI MSEL Specifications

General

Brand	IAI
Model	MSEL
Category	Controller
Language	English