IAI XSEL User Manual

445
Appendix
Appendix
No. Parameter name
Default value
(Reference)
Input range Unit Remarks
105 to
109
(For expansion) 0 ~
110 Reserved by system 4321H 0H to
FFFFFFFFH
111 Reserved by system 543103H 0H to
FFFFFFFFH
112 Reserved by system 0 0 ~ 2
113 Reserved by system 0 -9999999 to
9999999
0.001
mm
114 Reserved by system 0 -9999999 to
9999999
0.001
mm
115 Reserved by system 0H -9999999 to
9999999
0.001
deg
116 to
120
(For expansion) 0 ~
121 Vision System I/F 1
Coordinate Axes Definition
4321H 0H to
FFFFFFFFH
Bit 0-3: X-direction Axis Number
Bit 4-7: Y-direction Axis Number
Bit 8-11: Z-direction Axis Number
Bit 12-15: R-direction Axis Number
Bit 16-31: Reserved
(Main application version 1.00 or later/F-ROM 32-Mbit version only)
122 Vision System I/F 1
Coordinate Datum Point
Offset X
0 -99999999 to
99999999
0.001
mm
Robot coordinate X at vision system I/F 1 coordinates (X = 0,Y=0)
* Setting is established in vision system I/F adjustment.
(Main application version 1.00 or later/F-ROM 32-Mbit version only)
123 Vision System I/F 1
Coordinate Datum Point
Offset Y
0 -99999999 to
99999999
0.001
mm
Robot coordinate Y at vision system I/F 1 coordinates (X = 0,Y=0)
* Setting is established in vision system I/F adjustment.
(Main application version 1.00 or later/F-ROM 32-Mbit version only)
124 Vision System I/F 1
Coordinate Offset Angle
0 -99999999 to
99999999
0.001
deg
Rotation angle of vision system I/F 1 coordinate with robot coordinate as
the datum
Setting is established in vision system I/F adjustment.
(Main application version 1.00 or later/F-ROM 32-Mbit version only)
125 Vision System I/F 1
Z Axis Direction Vision
System Position Identification
Datum
0 -99999999 to
99999999
0.001
mm
(Related information: Parameters Common to All Axes No. 130, “Vision
System I/F 1 control 2”)
(Main application version 1.00 or later/F-ROM 32-Mbit version only)
126 Vision System I/F 1
X Axis (GTVD Acquirement
Data) Correction Offset
0 -99999 to
99999
0.001
mm
(Main application version 1.00 or later/F-ROM 32-Mbit version only)
127 Vision System I/F 1
Y Axis (GTVD Acquirement
Data) Correction Offset
0 -99999 to
99999
0.001
mm
(Main application version 1.00 or later/F-ROM 32-Mbit version only)
128 Vision System I/F 1
R Axis (GTVD Acquirement
Data) Correction Offset
0 -360000 to
360000
0.001
deg
(Main application version 1.00 or later/F-ROM 32-Mbit version only)
129 Vision System I/F 1
control 1
00Hto
FFFFFFFFH
Bit 0-3: System reservation
Bit 4-11: System reservation
Bit 12-19: System reservation
Bit 20-23: R axis correction positive sign reverse
0: not to reverse sign,
1: reverse sign
Bit 24-31: Reserved
(Main application version 1.00 or later/F-ROM 32-Mbit version only)
130 Vision System I/F 1
control 2
00Hto
FFFFFFFFH
Bit 0-7: Z axis direction position identification datum distance [0.1mm]
Invalid when installed on robot and at 0
Bit 8-11: Vision installation type
0: fixed installation (not on robot),
1: installed on robot
* Setting is established in vision system I/F adjustment.
Bit 12-31: Reserved
(Main application version 1.00 or later/F-ROM 32-Mbit version only)
131 to
400
(For expansion) 0 ~ (Main application version 0.52 or later/F-ROM 32-Mbit version only)
Parameters Common to All Axes
PC:PC software
TP:Teaching pendant

IAI XSEL Specifications

General

Type	Controller
Power Supply	24V DC
Communication	Ethernet, RS-232
Communication Interface	Ethernet
Operating Temperature	0 to 50 °C
Weight	Varies depending on model. Consult datasheet.