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2. Parameter data
The 4 types of parameter data are shown below.
Type
RUN parameter
I/O parameter
These parameters are intended for the I/O functions.
Option parameter
These parameters are related to the pulse train settings.
They include the "pulse train input type" and "E-Gear" settings.
Servo parameter
These parameters are robot-specific parameters.
They include the "gain", "rating", and "max. current" settings.
2.1
4
Description
These parameters are required for robot operation.
They include the "positioning" and "return-to-origin" settings.
Parameter list
When new data is created or transmitted, all parameters are set to their standard values (default values) in
accordance with the specifications of the selected robot and the payload. The following list shows the
parameter setting ranges and default settings.
n
Data setting
NOTE
For details regarding parameters see section 2.2, "Parameter details".
2.1.1 RUN parameters
• Positioning
No.
Name
Setting / Setting Range
Units
Default
Restart
1
(-) soft limit
(JOG operation only)
-9999.99 to 9999.99
mm
0.00
-
2
(+) soft limit
(JOG operation only)
-9999.99 to 9999.99
mm
Depends on robot type
-
3
In-position
0.01 to 1.00
mm
0.01
-
10
JOG speed
1 to 100
%
100
-
11
Inching width
0.01 to 1.00
mm
1.00
-
Units
Default
Restart
mm/s
20.00
-
-
Depends on robot type
-
Units
Default
Restart
-
0
-
ms
2
-
• Return-to-origin
No.
Name
Setting / Setting Range
13
Origin speed
0.01 to 100.00
14
Origin dir.
0: CCW direction; 1: CW direction
2.1.2 I/O parameters
• Function selection
No.
4-2
Name
Setting / Setting Range
31
SERVO sequence
0: Edge
33
Input filter
1 to 10
1: Level