8 Parameter
8.2 Motion Speed Setting Parameters
8-4
149235-1CD
RE-CSO-A031
S1CxG044: LOW-SPEED START
Units: 0.01%
This parameter specifies max. speed at low speed start. Specify the starting method for “initial
operation speed of manipulator” (S2C169).
S1CxG045 to S1CxG048: JOG OPERATION LINK SPEED
Units: 0.01%
These parameters prescribe the link speed at jog operation by the programming pendant. Specify the
percentage (%) for the jog operation speed limit, the joint max. speed.
S1CxG045: Jog operation link speed at level “LOW”
S1CxG046: Jog operation link speed at level “MEDIUM”
S1CxG047: Jog operation link speed at level “HIGH”
S1CxG048: Jog operation link speed at level “HIGH SPEED”
S1CxG056: WORK HOME POSITION RETURN SPEED
Units: 0.01%
This parameter specifies the speed for returning to work home position against the maximum speed.
This process becomes effective when change in direction of steps is between 250
° and
155
°.
Position Level
Position levels are divided into nine stages of 0 to 8 with the “MOV” instruction.
e.g. MOVL V=500 PL=1 (PL:Position Level)
The functions at each level are as follows:
0: Complete positioning to the target point
1 to 8: Inward turning operation
Following are explanations of the respective processing details and their relations with the
parameter.
• Level 0
Determines positioning completion when the amount of deviation (number of pulses) to
the target point of each axis comes within the position set zone specified by the
parameter.
After the positioning completes, the instruction system starts instruction to the next target
point.
• Level 1 to 8
Recognizes virtual positioning before the target point. The distance of the virtual target
position from the target point is specified at the positioning level.
Distance data corresponding to each level are set in the parameter. Determination of the
virtual target position is carried out in the instruction system.
Set zone: The zone of each positioning level set in the parameter. (μm)
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