IAI MSEL - 5.10.10 Want to Make a Home-Return on Actuators Externally; 5.10.11 Want to Execute the Controller Program Externally; 5.10.12 Want to Execute a Program Externally by Making an Indication of a Program Number in Binary; 5.10.13 Want to Pause Controller Externally during Automatic Operation

Chapter 5 I/O Parameter
139
5.8 Parameters for Linear / Rotation Controls
Shown in the list below are the combinations of parameters for linear and rotation controls:
Input Unit
• Distance mm • Speed mm/sec • Acceleration/ Deceleration G • angle mm → deg • Angular velocity mm/sec → deg/sec • Angular acceleration and deceleration G
= 9807mm/sec
2
→ 9807deg/sec
2
= 9807×2π/360
rad/sec
2
* ”deg” shows the angle
of a solid of revolution on the tip
Each Axis
Parameter
No.51
Gear Ratio
Numerator
Each Axis
Parameter
No.50
Gear Ratio
Numerator
Enable
Enable
Each Axis
Parameter
No.47
Screw Lead
Each Axis
Parameter
No.44
Measurement
Adjustment
Enable
Disable
Each Axis
Parameter
No.8
Soft limit-
Disable
(Fixed at 0
inside)
Each Axis
Parameter
No.7
Soft limit+
Enable
Disable
(Note 1)
Enable
Disable
(Fixed at
359.999
inside)
Current Position
Expression
(Approximately)
Counter range
-10000 to
9999.999
(
Rotary
)
Counter range Counter range
0
0 to
359.999
(
Rotary
)
Incremental
○ ○ ○ ○ ○
Simple
ABS
○

○ ○ ○
Encoder Process Type
Accepted/Unaccepted
Battery-
less ABS
○

○ ○

Each Axis
Parameter No.67
Short-cut Control
Selection for
Rotational
Movement Axis
0
(No shortcut)
0
(No shortcut)
1
(Shortcut control)
Each Axis
Parameter
No.66
Rotation
Movement Axis Mode
Select
Disable
0
(Normal
mode)
1
(Index mode)
Each Axis
Parameter
No.68
Linear
Sliding Axis
Mode Select
0
(Normal
mode)
1
(Infinite
stroke mode)
Disable
Each Axis
Parameter
No.1
Axis operation
type
0
(
linear
movement axis
)
1
(rotation
movement axis
)
(Note 1): “Error No. CBE Target Tracking Data Boundary Violation Error” will be issued if having a positioning command except for ‘JxWx’ exceeding the coordinate range approximately
from -9990 to 9990.
: “Error No. CC5 Positioning Boundary Excess Error” will be issued if executing a positioning command except for ‘JxWx’ out of the coordinate range approximately from -9990 to
9990.