Vacuum Robot Manual
4000-0315 Rev 1
34
2. Edit the Robot Parameter File to change the Customized Home
encoder counts to the new desired physical position. For example, –
9000 counts equals 9 inches in the retracted position.
3. Download the Robot Parameter File to the controller.
4. In Terminal mode, enter RES and then SAV.
Robot Parameter File
The robot parameters are stored in the *.par file. Below is an example
Robot Parameter File, annotated to show the line locations of the
parameters. Your parameter file might have different values.
Note that most parameters have three positions. The first position is the T-
axis value, the second position is the R-axis value, and the last value is for
the Z axis. For example, when the T axis is homed, a speed of 50 is used,
but when the R axis is homed, a speed of 30 is used.
VAC-xxxx Serial number of the robot
9600 Baud rate
50,30,20 Home speed
200.200,40 Home acceleration
1000,1000,2000 Encoder resolution
0,0,0 Reserved – Not used
650,1500,170 Operational speed
350,3000,400 Operational acceleration
300,500,500 Error limit or following error
75,60,30 GN, Proportional gain
0,0,0 Servo acceleration forward
3,3,3 KI, Integral gain or Response to error
9999,9999,9999 TL – Torque limit
225,139,240 ZR, Derivative gain or Damping element
5888,3524,3840 Ramp value, controls radius of the S-curve
0,0,0 Customized home position
0,645,0 Home offset in encoder counts
28125,4909,492 Mechanical ratio used in scaling
0,28000,0 Arm length, total of both arm links for R
4,0,0 Parameters for optional Z-axis brake
350,3000,400 Operational deceleration
-36000,-28000,0 Negative software motion limit
100000,28000,1900 Positive software motion limit
0,0,0 Scanner offset
0,0,0 Reserved – Not used
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