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12.1.1
Parameter list
■ Robot parameters
Refer to "12.1.2 Robot parameters" in this chapter for details on parameters.
No.
Name
1
Tip weight *2
Return-to-origin
2
sequence
R-axis direction
1
3*
retention
*1 Only available for SCARA robots.
■ Axis parameters
Refer to "12.1.3 Axis parameters" in this chapter for details on parameters.
No.
Name
Acceleration
1
coefficient
2
Deceleration rate Decel. rate [%]
3
+ software limit
4
- software limit
5
Tolerance
OUT effective
6
position
7
Arch position
Return-to-origin
8
speed
Acceleration during
9
manual mode
Origin position
10
shift
11
Arm length
12
Offset pulse
13
Axis tip weight *
Return-to-origin
14
method
Return-to-origin
15
direction
Robot movement
16
direction
17
Limitless motion
*2 Transport weight settings
By setting the weight of workpieces transported by the robot in the parameters, the
robot controller optimizes acceleration when the robot is moving.
Depending on whether the robot type is "MULTIXY" or "COMPOXY", the parameter in
which the tip weight is set differs.
("MULTIXY" and "COMPOXY" are robot types set when performing system generation.)
Displayed name
Identifier
Tip weight [kg]
WEIGHT
Origin sequence
ORIGIN
R axis orientation
RORIEN
Displayed name
Identifier
Accel. coefficient
ACCEL
[%]
DECRAT
+Soft limit [pulse]
PLMT+
-Soft limit [pulse]
PLMT-
Tolerance [pulse]
TOLE
OUT position
OUTPOS
[pulse]
Arch position
ARCH
[pulse]
Origin speed
ORGSPD
[pulse/ms]
Manual accel [%]
MANACC
Origin shift [pulse] SHIFT
Arm length [mm]
ARMLEN
Offset pulse
OFFSET
2
Axis tip weight [kg] AXSTIP
Origin method
ORGSNS
Origin direction
ORGDIR
Motor direction
MOTDIR
Limitless motion
NOLMT
12. "SYSTEM" mode
Setting
Default
range
setting
0 to 200
Robot type kg
0 to 654321
312456
KEEP, FREE KEEP
Setting
Default
range
setting
1 to100
100
1 to100
Robot type %
-6144000 to
Robot type pulse
+6144000
-6144000 to
Robot type pulse
+6144000
1 or more
80
robot type
1 to 6144000 Robot type pulse
1 to 6144000 Robot type pulse
1 or more
20
robot type
1 to 100
100
-6144000 to
0
+6144000
0 to 10000
0
-6144000 to
0
+6144000
0 or more
robot type
SENSOR,
TORQUE,
Robot type
MARK
---, +++
Robot type
---, +++
Robot type
INVALID,
INVALID
VALID
Unit
–
–
Chapter
4
Unit
%
pulse
pulse/
ms
%
pulse
mm
pulse
kg
–
–
–
–
4-159
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