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params-edited.txt
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params-edited.txt
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978
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982
983
984
985
986
987
988
989
990
991
992
993
994
995
996
997
998
999
1000
RC002
600000
L-axis arm-length (distance between the centers of l-axis rotation and u-axis rotation)
microns
RC001
200000
X-direction offset distance between centers of s-axis rotation and l-axis rotation
microns
RC003
0
y-direction offset distance between center of s-axis rotation and surface of u-axis rotation
microns
RC004
115000
offset distance between center of u-axis rotation and r-axis center line
microns
RC005
770000
u-axis arm length (distance between the intersection of u-axis offset end the center of b-axis rotation)
microns
RC006
0
distance between centers of r-axis rotation and t-axis rotation
microns
RC007
100000
distance between center of b-axis rotation and flange surface (original point of flange coordinate)
microns
RC008
0
Distance between centers of l-axis rotation and l-axis drive unit rotation
microns
RC009
0
Distance between centers of l-axis rotation and u-axis drive unit rotation
microns
RC010
0
Distance between centers of l-axis rotation and l-axis ball screw nut
microns
RC011
0
Distance between centers of l-axis rotation and u-axis ball screw nut
miccrons
RC012
0
conversion factor for l-axis angle (1)
RC013
0
Conversion factor for u-axis angle (1)
RC014
0
Distance between a1-axis and a2-axis center (only for K10ASB)
microns
RC020
0
R-B-axes compensation coefficient (x0.001)
(for K205S: L-B compensation coefficient)
RC021
0
R-T-axes compensation coefficient (x0.001)
RC022
-80000
B-T-axes compensation coefficient (x0.001)
RC024
100
accel/decel time (ms)
related to RC108, RC109
not used
RC025
0
Gravity at end of wrist
(for s-axis)
RC026
10000
S-axis accel/decel offset value
RC027
10339000
S-axis accel/decel compensation constant (1)
RC028
0
L-axis accel/decel compensation constant (1)
RC029
0
U-axis accel/decel compensation constant (1)
RC030
0
R-axis accel/decel compensation constant (1)
RC031
0
B-axis accel/decel compensation constant (1)
RC032
0
T-axis accel/decel compensation constant (1)
RC039
226670
T-axis max. acceleration
pulse/s2
RC033
100
Data for movement between steps (%)
RC034
510000
S-axis max. acceleration
pulse/s2
RC035
340000
L-axis max. acceleration
pulse/s2
RC036
408000
U-axis max. acceleration
pulse/s2
RC037
233330
R-axis max. acceleration
pulse/s2
RC038
233330
B-axis max. acceleration
pulse/s2
RC040
510000
S-axis Max. deceleration
pulse/s2
RC041
340000
L-axis max. deceleration
pulse/s2
RC042
408000
U-axis max. deceleration
pulse/s2
RC043
233330
R-axis max. deceleration
pulse/s2
RC044
233330
B-axis max. deceleration
pulse/s2
RC045
226670
T-axis max. deceleration
pulse/s2
RC046
122400
S-axis resolution
pulse/s2
RC047
-122400
L-axis resolution
model V/S (pulse/360 degree)
model L: ball screw disposition
(micron/motor revolution)
RC048
122400
U-Axis resolution
model V/S (pulse/360 degree)
model L: ball screw disposition
(micron/motor revolution)
RC049
-32000
R-axis resolution
pulse/360 degrees
RC050
32000
B-axis resolution
pulse/360 degrees
RC051
-20400
T-axis resolution
pulse/360 degrees
RC052
40800
S-axis max pps
pulse/s
RC053
40800
L-axis max pps
pulse/s
RC054
40800
U-axis max pps
pulse/s
RC055
23333
R-axis max pps
pulse/s
RC056
23333
B-axis max pps
pulse/s
RC057
22667
T-axis max pps
pulse/s
RC058
3000
S-axis motor rated speed
rpm
RC059
3000
L-axis motor rated speed
rpm
RC060
3000
U-axis motor rated speed
rpm
RC061
3000
R-axis motor rated speed
rpm
RC062
3000
B-axis motor rated speed
rpm
RC063
3000
T-axis motor rated speed
rpm
RC064
800
S-axis pulse generator ratio (ppr)
Note: 4x pulse generator output pulse/motor revolution
RC065
800
L-axis pulse generator ratio (ppr)
Note: 4x pulse generator output pulse/motor revolution
RC066
800
U-axis pulse generator ratio (ppr)
Note: 4x pulse generator output pulse/motor revolution
RC067
400
R-axis pulse generator ratio (ppr)
Note: 4x pulse generator output pulse/motor revolution
RC068
400
B-axis pulse generator ratio (ppr)
Note: 4x pulse generator output pulse/motor revolution
RC069
400
T-axis pulse generator ratio (ppr)
Note: 4x pulse generator output pulse/motor revolution
RC070
4000
S-axis saturation zone
pulse
RC071
4000
L-axis saturation zone
pulse
RC072
4000
U-axis saturation zone
pulse
RC073
3000
R-axis saturation zone
pulse
RC074
3000
B-axis saturation zone
pulse
RC075
3000
T-axis saturation zone
pulse
RC076
5
S-axis position setting zone (for PL=0)
pulse
RC077
5
L-axis position setting zone (for PL=0)
pulse
RC078
5
U-axis position setting zone (for PL=0)
pulse
RC079
5
R-axis position setting zone (for PL=0)
pulse
RC080
5
B-axis position setting zone (for PL=0)
pulse
RC081
5
T-axis position setting zone (for PL=0)
pulse
RC082
0
S-axis alarm zone setting (pulse)
0: automatic setting
others: setting by zone value
RC083
0
L-axis alarm zone setting (pulse)
0: automatic setting
others: setting by zone value
RC084
0
U-axis alarm zone setting (pulse)
0: automatic setting
others: setting by zone value
RC085
0
R-axis alarm zone setting (pulse)
0: automatic setting
others: setting by zone value
RC086
0
B-axis alarm zone setting (pulse)
0: automatic setting
others: setting by zone value
RC087
0
T-axis alarm zone setting (pulse)
0: automatic setting
others: setting by zone value
RC088
150
S-axis servo gain
(xo.1)
RC089
150
L-axis servo gain
(xo.1)
RC090
150
U-axis servo gain
(xo.1)
RC091
150
R-axis servo gain
(xo.1)
RC092
150
B-axis servo gain
(xo.1)
RC093
150
T-axis servo gain
(xo.1)
RC100
63
Controlled axis designation
byte
set by bits
RC101
22
Robot axis motor rotation direction designation
(byte)
set by bits
RC102
0
Robot axis position detector sign designation
(byte)
set by bits
RC103
1
Number of absolute data reading
RC104
5
Brake open timing
(x0.1s)
RC105
45
Robot orientation designation
RC107
5
Average play segment no for accel/decel operation
(with relation to SC030)
RC109
9
Average teaching segment no.
(with relation to SC030)
RC110
0
Start condition after alarm=1290
0: position confirmation
1: slow start
SC410 - SC412
Synchronously controlled axis, pattern 1 through 3 (bit setting)
Initial value: 0
Set a decimal number so as to set 1 for the bit that represents the two external
axes to be synchronized.
D7 D6 D5 D4 D3 D2 D1 D0
| | | | | | | |____1st ext. axis
| | | | | | |_______2nd ext. axis
| | | | | |__________3rd ext. axis
| | | | |_____________4th ext. axis
| | | |________________5th ext. axis
| | |___________________6th ext. axis
| |______________________always set to 0
|_________________________always set to 0
The external axis specified by parameters SC410 to SC412 must be specified as
control axis by SC250. Otherwise error 2230 or error 1020 occurs. See errors
for an example.
RC150
Computation constant
unit: microns
RC151
Distance between the L-axis rotation center and the L-arm gravity center
unit: microns
RC152
Distance between the U-arm gravity center and the rotational center line intersections of the U-axis and R-axis
unit: microns
RC153
Distance between the L-axis rotation center and the balance weight gravity center
unit: microns
RC154
Link A gravity center distance
unit: microns
RC155
Link B gravity center distance
unit: microns
RC156
Offset angle of link B against the U-arm
unit: x0.001 Degrees
RC157
Offset angle of the balance weight gravity center against the ground
unit: x0.001 degree
RC160
Maximum payload
unit: g
RC161
L-arm weight
unit: g
RC162
Weight on the U-axis rotation center
unit: g
RC163
Weight on the intersection of the rotation center lines of U-axis and R-axis
unit: g
RC164
U-arm weight
unit: g
RC165
weight on the B-axis rotation center
unit: g
RC166
Balance weight
unit: g
RC167
Link A-weight
unit: g
RC170
acc/dec condition: S-axis GD2 without payload
unit: gm2
RC171
Acc/dec condition: S-axis minimum GD2
unit: gm2
RC172
Acc/dec condition: correction constant for S-axis
unit: ms
RC173
Acc/dec condition: correction constant for L-axis
unit: ms
RC174
Acc/dec condition: correction constant for U-axis
unit: ms
RC175
Acc/dec condition: correction constant for R-axis
unit: ms
RC176
Acc/dec condition: correction constant for B-axis
unit: ms
RC177
Acc/dec condition: correction constant for T-axis
unit: ms
RC180
Plugging motion control constant for S-axis
unit: x0.001
RC181
Plugging motion control constant for L-axis
unit: x0.001
RC182
Plugging motion control constant for U-axis
unit: x0.001
RC183
Plugging motion control constant for R-axis
unit: x0.001
RC184
Plugging motion control constant for B-axis
unit: x0.001
RC185
Plugging motion control constant for T-axis
unit: x0.001
RC187
? Angle check for positioning motion
0: not available
1: available
RC188
Minimum checking angle for positioning motion
unit: x0.001 degree
RC189
Maximum checking angle for positioning motion
unit: x0.001 degree
RS000
8
Data bit length
7: 7 bit
8: 8 bit
RS001
0
Stop bit length
0: 1 bit
1: odd
2: even
RS003
64
Baud rate [data x 150]
(eg. 64x150=9600)
RS004
0
Protocol designation
RS006
30
Watchdog timer "a" Data sequence
x 0.1 s
range: 0-100
Protection for no or invalid response
RS007
200
Watchdog timer "b" Data for text receive
x 0.1 s
range: 0-100
Protection for not receiving the text end character
RS008
10
Number of retry control characters (retry1)
range: 0-30
For no or invalid response
RS009
3
Number or retry text (retry2)
range: 0-10
For receiving "Nack"
RS010
0
Block check method
SC000 - SC011
57800
SC000: S-axis software limit in + direction
57800
SC001: L-axis software limit in + direction
81600
SC002: U-axis software limit in + direction
20400
SC003: R-axis software limit in + direction
16000
SC004: B-axis software limit in + direction
20000
SC005: T-axis software limit in + direction
11330
SC006: S-axis software limit in - direction
-57800
SC007: L-axis software limit in - direction
0
SC008: U-axis software limit in - direction
-73100
SC009: R-axis software limit in - direction
-16000
SC010: B-axis software limit in - direction
-4000
SC011: T-axis software limit in - direction
-11330
unit for all of them: pulse
SC012
20000
B-axis motor limit in + direction
unit: pulse
SC013
11410
T-axis motor limit in + direction
unit: pulse
SC014
-4000
B-axis motor limit in - direction
unit: pulse
SC015
-11725
T-axis motor limit in - direction
unit: pulse
SC016
1500
L-U maximum interference angle
unit: x0.1 degree
SC017
200
L-U minimum interference angle
unit: x0.1 degree
SC018: +X base frame coordinate of the software limit cube
35000
unit: x0.1 mm
SC019: +Y base frame coordinate of the software limit cube
35000
unit: x0.1 mm
SC020: +Z base frame coordinate of the software limit cube
35000
unit: x0.1 mm
SC021: -X base frame coordinate of the software limit cube
-35000
unit: x0.1 mm
SC022: -Y base frame coordinate of the software limit cube
-35000
unit: x0.1 mm
SC023: -Z base frame coordinate of the software limit cube
-35000
unit: x0.1 mm
SC024
60000
S-axis interference area in + direction
unit: pulse
SC025
-60000
S-axis interference area in - direction
unit: pulse
SC026: +X base frame coordinate of the interference cube 1
35000
SC027: +Y base frame coordinate of the interference cube 1
35000
SC028: +Z base frame coordinate of the interference cube 1
35000
SC029: -X base frame coordinate of the interference cube 1
-35000
SC030: -Y base frame coordinate of the interference cube 1
-35000
SC031: -Z base frame coordinate of the interference cube 1
-35000
SC032: +X base frame coordinate of the interference cube 2
35000
SC033: +Y base frame coordinate of the interference cube 2
35000
SC034: +Z base frame coordinate of the interference cube 2
35000
SC035: -X base frame coordinate of the interference cube 2
-35000
SC036: -Y base frame coordinate of the interference cube 2
-35000
SC037: -Z base frame coordinate of the interference cube 2
-35000
unit for all is pulse: x0.1 mm
SC038: S-axis deviation allowed after emergency stop and restart
0
unit: pulse
SC039: L-axis deviation allowed after emergency stop and restart
0
unit: pulse
SC040: U-axis deviation allowed after emergency stop and restart