You also want an ePaper? Increase the reach of your titles
YUMPU automatically turns print PDFs into web optimized ePapers that Google loves.
5. Type R Interface <br />
3Push Condition/Teaching Function<br />
Command Command Name Function Point/PRG Indication<br />
24(18h) Push Deviation Sets the threshold for detecting a deviation error due No<br />
to push back during push operations.<br />
37(25h) Push Determination Sets the determination time for push completion.<br />
YES<br />
Time<br />
38(26h) Push Velocity Sets the push velocity of a push operation YES<br />
9 Teach Initial Value Sets the initial value of velocity, acceleration No<br />
/deceleration rate, In-Position and push current when<br />
in teaching mode.<br />
Define initial value of the movement command<br />
when data is not stored in teaching Point or when a<br />
command other than movement command is<br />
memorized.<br />
10(0Ah) Operation Condition<br />
when Teaching<br />
Sets the Jog operation velocity and acceleration /<br />
deceleration rate when in teaching mode.<br />
No<br />
4Adjustment Parameter<br />
Command Command Name Function Point/PRG Indication<br />
3220h Power Limit Sets the current limit value at optional state.<br />
Yes<br />
Used for Torque limit or Power Down, etc.<br />
33(21h) Gain 1 Sets the normalized servo parameter. Yes<br />
47(2Fh) Gain 2 Sets the detailed Gain. Yes<br />
34(22h) LPF Sets the low-pass filter of velocity loop. Yes<br />
36(24h) Correction This is an adjustment parameter for soft landing.<br />
Yes<br />
Coefficient<br />
225(E1h) P/PI Switch Sets the switching condition of proportional / Integral control. No<br />
5User Setting Commands<br />
Command Command Name Function Point/PRG Indication<br />
42(2Ah) ZONE Sets the coordinates range for Zone output. Yes<br />
48(30h) In-Position Width Sets the In-Position width. Yes<br />
50(32h) Positive Direction Soft Limit Sets the soft limit for the positive direction. Yes<br />
51(33h) Negative Direction Soft Limit Sets the soft limit for the negative direction. Yes<br />
43(2Bh) Modulo Enabled / Enables or disables the modulo function (coordinate Yes<br />
Disabled range adjustment function). This function is<br />
effective for indexing applications.<br />
44(2Ch) Modulo Value Sets the modulo pulse number per rotation. Yes<br />
45(2Dh) Modulo Rotational Sets the rotational direction for the modulo function. Yes<br />
Direction<br />
520