Epson RC700 Manual page 40

3. Software
Initial Pulse Width
Use this parameter to control the initial pulse width to prevent power swing at the
stepper motor. The value in the range of 1 to 8388607.
Limit Stop Mode
This specifies how the robot will be stopped when a limit signal is turned OFF. Select
from the drop-down list box either Rapid Stop (stop immediately) or Decel Stop
(gradually decelerate to stop).
Margin Pulses
During the calibration without the acceleration or deceleration, when the calibration
signal is detected, the arm stops after moving for the part of margin pulses in the
traveling direction. This is used to prevent the false detection by the origin signal
chattering or hunting. The value must be an integer in the range of 1 to 65535.
Max Accel, Max Decel Max, Speed
These correspond with the SPEL+ commands SPEED 100, and ACCEL 100, 100,
whose values are percentages.
Max Range, Min Range
This is the default working range for the robot. The value must be a signed integer in
the range of −2147483648 to 2147483647.
When the user clicks Default button in the Tool | Robot manager | Range, these values
will be used.
For the details, refer to 3.3.2 [Range].
Motor Type
Specifies the target motor type. Select either Servo or Stepper.
If Servo is selected, the following signals will become effective: Positioning Output
of the servo drive (DEND), Counter Reset Input (DRST) and Servo ON (SVON).
Origin Pulses
Specifies the pulse position after the calibration. The specified pulse value is the
position at where the arm is after the calibration with MCal. The value must be a
positive / negative integer.
Physical / Logical Pulses
Set the relation of the direction of the motor rotation and the pulse values (coordinate
values) in SPEL+. Select Same or Reverse from the drop-down list.
28
maximum speed
maximum acceleration [pulse/sec
maximum deceleration [pulse/sec
Same As physical encoder values increase, SPEL+ pulse values increase.
Reverse As physical encoder values increase, SPEL+ pulse values decrease.
[pulse/sec] Real value from 0.1 to 6553400.0
2
]
Real value from 200.0 to 400000000.0
2
]
RC700 / RC90 option PG motion system Rev.2