User`s manual

4
Data setting
4-2
 2. Parameterdata
The 4 types of parameter data are shown below.
Type Description
RUN parameter
These parameters are required for robot operation.
They include the "positioning" and "return-to-origin" settings.
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 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
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 -
 •Return-to-origin
No. Name Setting / Setting Range Units Default Restart
13 Origin speed 0.01 to 100.00 mm/s 20.00 -
14 Origin dir. 0: CCW direction; 1: CW direction - Depends on robot type -
2.1.2 I/Oparameters
 •Functionselection
No. Name Setting / Setting Range Units Default Restart
31 SERVO sequence 0: Edge 1: Level - 0 -
33 Input filter 1 to 10 ms 2 -