Notes On Robo Rotary - IAI RoboNet Operation Manual

4.5

Notes on ROBO Rotary

(1) Home Return Direction
The moving end of the output axis in counterclockwise direction becomes the home position.
Actuators of multi-rotational specification can be ordered with their rotating direction reversed. On these reverse rotation
models, the home return direction corresponds to the clockwise direction.
Caution
If the home return direction of the delivered actuator is changed by a parameter, the home return direction will be
reversed, but the home position will deviate due to the structure of the actuator.
Do not change the home return direction parameter.
(2) Operation (Position Setting) Range
The position value is determined by the angle of movement from the home position.
330 ° -rotation Specification: The position specification range is 0 to 330 ° .
Multi-rotational Specification: The position specification range is as follows.
Mode
Rotational axis, normal mode
Rotational axis, index mode
(3) Angular Velocity and Acceleration/Deceleration Command
The rotational angle command is based on angular velocity (deg/sec).
In programs, acceleration/deceleration is specified in "G."
Rated angular acceleration/deceleration: 0.3 G = 2940 deg/sec.
210
Absolute position specification
-0.15 to +9999.15
0 to 359.99
Part 1 Specification
Relative position specification
-9999.30 to +9999.30
-360.00 to +360.00