IAI RoboNet Operation Manual page 225

[Various Settings for Rotational Operation Axis and Operation Details]
The list below summarizes the operation details of a rotational operation axis.
Axis operation Rotational axis
type mode selection
(No. 78) (No. 79)
0
Linear Disable
operation axis
0
Normal mode
1
Rotational
1
operation axis
Index mode
Caution
[1] When the controller unit is started, the soft limits are automatically set to 0 ° for the – soft limit and +359.99 ° for the +
soft limit in the controller, and accordingly the parameter settings will be ignored. A soft limit error will not occur.
[2] With relative position commands, the actuator will not perform rotational operation by shortcut even when the shortcut
mode is selected.
[3] The "ABS (absolute)" designation relating to the encoder system indicates that the axis uses an absolute encoder or is
connected to a simple absolute R unit. With these absolute axes, the index mode cannot be used.
[4] Push operation cannot be performed. Even if push operation is set by position data, the actuator will still perform
normal rotational operation. In this case, the positioning band will conform to the default positioning band.
[5] In jogging and inching operations, the maximum rotation angle supported in each command is one revolution (up to
360 ° ).
[6] The encoder resolution (deg/pulse) is determined by the gear ratio (or ball screw lead) and encoder pulse count, and
may reach or exceed 0.01 deg/pulse. If the encoder resolution is 0.01 deg/pulse or more, an error will generate
between the position complete position and target position.
Rotational axis
Encoder system
shortcut selection
(No. 80)
ABS
Disable
Disable
0
Do not select
1
Select
Absolute
Current
position
position
command
display range
INC
range
-9999.99° to -0.15° to
+9999.99° +9999.15°
-9999.99° to -0.15° to
+9999.99° +9999.99°
0° to 0° to
+359.99° +359.99°
Part 1 Specification
Relative
position Soft limits
command (+, -)
range
-9999.30° to
Enable
+9999.30°
-9999.30° to
Enable
+9999.30°
-360.00° to
Disable
+360.00°
Push
operation
Possible
Possible
X
Not
possible
205