7
Controller system settings
7-13
Name Identifier Setting range Initial value Unit
Inner side circle minimum radius
*1
MINRAD 10 to 100000 5000 0.001mm
Speed limit radius 1
*1
CERAD1 10 to 100000 30000 0.001mm
Speed limit radius 2
*1
CERAD2 10 to 100000 5000 0.001mm
Speed limit 1
*1
SPLMT1 1 to 100 10 %
Speed limit 2
*1
SPLMT2 1 to 100 1 %
Custom robot
*1
CSTMRBT 0: INVALID, 1: VALID 0
*1 Contact your distributor for changing these parameters as editing them may influence the robot control.
Axis parameters
For details about parameters, refer to "10.6 Axis parameters" in this Chapter.
Name Identifier Setting range Initial value Unit
+ Soft limit PLMT+ -9999999 to 9999999 Depends on the model. pulse
- Soft limit PLMT- -9999999 to 9999999 Depends on the model. pulse
Accel. coefficient ACCEL 1 to 100 100 %
Decel. rate DECRAT 1 to 100 100 %
Tolerance TOLE
1 to value depending on the model
80 pulse
OUT position OUTPOS 1 to 9999999 2000 pulse
CONT pulse CONTPLS 0 to 9999999 0 pulse
Arch pulse 1 ARCHP1 0 to 9999999 9999999 pulse
Arch pulse 2 ARCHP2 0 to 9999999 9999999 pulse
Push speed PSHSPD 1 to 100 10 %
Push force PSHFRC -1000 to 1000 100 ms
Push time PSHTIME 1 to 32767 1000 ms
Push judge speed PSHJGSP 0 to 100 0 %
Push method PSHMTD 0: NORMAL, 1: RESET 0
Manual accel MANACC 1 to 100 100 %
Origin speed 1 ORGVEL1 1 to 1000 200 pulse/10ms
Origin speed 2 ORGVEL2 1 to 100 50 pulse/10ms
Speed after origin ORGMVS 1 to 100 20 %
Move position ORGMVP -9999999 to 9999999 0 pulse
Origin shift ORGSFT -9999999 to 9999999 0 pulse
Dual offset DOFSET -9999999 to 9999999 0 pulse
Origin method ORGMTD
0: MARK, 1: SENSOR,
2: TORQUE, 3: ZR_TORQUE
Depends on the model.
Origin direction ORGDIR 0: MINUS, 1: PLUS 0
Motor direction MOTDIR 0: CW, 1: CCW Depends on the model.
Arm length ARMLEN 0 to 9999999 0 0.001mm, 0.001 deg.
Offset pulse OFFSET -9999999 to 9999999 0 pulse
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