User`s manual

4
Data setting
4-3
2.1.3 Optionparameters
 •Pulsetrain
No. Name Setting / Setting Range Units Default Restart
83 Pulse train input type
0: Pulse train invalid *
1: Open collector CW/CCW
2: Open collector Pulse/Sign
3: Open collector Phase A/Phase B
5: Line driver CW/CCW
6: Line driver Pulse/Sign
7: Line driver Phase A/Phase B
- 0
Required
84 E-Gear 1 1 to 32767 - 20480 Required
85 E-Gear 2 1 to 32767 - Depends on robot type Required
* These parameters are set when the JOG operation, inching operation or return-to-origin is started from the support software
(TS-Manager).
2.1.4 Servoparameters
 •Adjustment(foruseradjustments)
No. Name Setting / Setting Range Units Default Restart
76
Payload 1
(JOG operation only)
0 to value depending on robot type kg Depends on robot type
77
Max. payload accel.1
*1
(Depends on robot type)
0.01 to value depending on robot type m/s
2
Depends on robot type
* The values shown above are changed according to the specified calculation formula when registering the parameter K76.
2.2 Parameterdetails
The parameters described below can be adjusted to conform to the actual application and usage conditions.
w
WARNING
BEFORE CHANGING THE PARAMETERS, MAKE SURE THAT THE SERVO IS TURNED OFF AND THE PULSE TRAIN COMMAND
INPUT FROM THE HOST UNIT IS STOPPED COMPLETELY. FAILURE TO DO SO MAY CAUSE AN UNEXPECTED OPERATION.
2.2.1 RUNparameters
 •Positioningrelatedparameters
K1
K2
Soft limit (-)
(JOG operation only)
Soft limit (+)
(JOG operation only)
Setting Range Default Units Restar
-9999.99 to 9999.99
Depends on robot type mm -
 Function
Specifies the robot movement range when the JOG operation is started from the support software (TS-Manager). K1
specifies the minus-side limit, and K2 specifies the plus-side limit.
Although the robot's effective stroke was factory-set as the soft limit at shipment, it should be changed if necessary to
avoid collisions with obstacles, etc. only when the return-to-origin has been completed.
TIP
For the plus and minus directions, the robot motor side becomes the minus direction and the side opposite to the
motor becomes the plus direction.
K3 In-position
Setting Range Default Units Restart
0.01 to 1.00
Depends on robot type mm -
 Function
Specifies the range in which end-of-positioning is recognized.
When the robot is located in a range specified by this parameter in response to the pulse train command input, the
IN-POS I/O signal becomes ON.