IAI TTA Series User Manual

Chapter 7 Appendix 7.1 Work and Tool Coordinate System Features for Linear Axis
257
7.1.2 Setting of parameters
Shown below, describes how to set the parameters necessary for using the work and tool coordinate
system features on the linear axis.
• By setting All Axes Parameter No. 55 “Coordinate System Definition 1 Control” to “1h”, the
coordinate system definition unit becomes effective.
No. Parameter name
Initial value
(Reference)
Input range Unit
Access
right
Remarks
55
Coordinate
System Definition
1 Control
0H
0 ~
FFFFFFFF
H
F
Bits 0-3 : Unit Valid
Indication
(0: Invalid,
1: Valid)
Bits 4-31 : Reservation
• Indicate the physical axis applicable for the coordinate axes (X-axis, Y-axis, Z-axis and R-axis) in
the coordinate system in All Axes Parameter No. 56 “Coordinate System Definition 1 Constructing
Axis Setting”.
No. Parameter name
Initial value
(Reference)
Input range Unit
Access
right
Remarks
56
Coordinate
System
Definition 1
Constructing Axis
Setting
0H
0 ~
FFFFFFFFH
F
Bits 0 to 3: X Indicated
Axis Number
Bits 4 to 7: Y Indicated
Axis Number
Bits 8 to 11: Z Indicated Axis
Number
Bits 12 to 15: R Indicated
Axis Number
Bits 16 to 31: Reservation
(No applicable definition axis
when Axis No. = 0)
Stated below are the caution items regarding the setting of All Axes Parameter No. 56. “5C0
Coordinate System Setting Error” will occur when there is an error in setting related to these
caution items described below.
 The patterns of constructing axes that are available to indicate should be either of “XY”, “XYZ”,
“XYZR” and “XYR”.
 Duplicated indication of one physical axis is not allowed.
 It is necessary that the axes indicated as the X, Y and Z-axes are linear driving axes (Each Axis
Parameter No. 1 = “0”), and that the axis indicated as R-axis should be rotary driving axis
(Each Axis Parameter No. 1 = “1”).
 The following axes cannot be indicated.
[Synchronized Slave Axes, Infinite Stroke Axes, Shortcut Control Valid Axes]
 There may be a case that an error such as “D41 Coordinate System Data Management
Domain ID Error” occurs after conducting parameter writing → reboot when the coordinate
system definition unit gets activated by setting All Axes Parameter No. 55 for the first time.
In such a case, initialize the memory for the “coordinate system definition data” using the PC
software or a teaching pendant and then reboot the controller.
 There will be limitation in some part of operation if indicated to the coordinate system definition
unit axis. (Refer to 7.3 for details.)

IAI TTA Series Specifications

General

Brand	IAI
Model	TTA Series
Category	Robotics
Language	English