Installation manual
Chapter 6 Programming
6-112
６．１４ Parameter setting
In the motion control section, arm parameter information is as follows:
The details can be seen from the operation control section with “pa_get_prm”. But, It
cannot be altered directly by a program. For alteration, use the operation support
program (parameter setting).
This method can be referred to the operation support program (parameter setting)
instructions.
If the parameter is altered except the ● marked ones, control cannot
be guaranteed.
Arm parameter outline
Designations
Types Config. Details
●
＊１
PUL float [0-6] Ｓ１～W2 axis upper angle limit [rad]
●
＊１
PDL float [0-6] Ｓ１～W2 axis lower angle limit [rad]
VEL float [0-6] Ｓ１～W2 axis velocity limit [rad/sec]
[7] Linear motion velocity limit [mm/sec]
[8] Rotational motion velocity limit [rad/sec]
●
DEV float [0-6] Ｓ１～W2 axis standard motion velocity [rad/sec]
●
[7] Standard Linear motion velocity [mm/sec]
●
[8] Standard rotational motion velocity [rad/sec]
LIM float [0-6] Teach modeＳ１～W2 axis velocity limit [rad/sec]
[7] Teach mode Linear motion velocity limit [mm/sec]
[8] Teach mode Rotational motion velocity limit [rad/sec]
●
CEH float [0-6] Teach mode Ｓ１～W2 axis fast motion velocity [rad/sec]
●
[7] Teach mode fast linear motion velocity [mm/sec]
●
[8] Teach mode fast rotational motion velocity [rad/sec]
●
CEM float [0-6] Teach mode Ｓ１～W2 axis mid motion velocity [rad/sec]
●
[7] Teach mode linear mid motion velocity [mm/sec]
●
[8] Teach mode rotational mid motion velocity [rad/sec]
●
CEL float [0] Teach mode Ｓ１～W2 axis slow motion velocity [rad/sec]
●
[7] Teach mode linear slow motion velocity [mm/sec]
●
[8] Teach mode rotational slow motion velocity [rad/sec]
PG1 float [0-2] Robot coordinate RMRC control X, Y and Z direction gain
[3-5] Robot coordinate RMRC control X, Y and Z rotational
direction gain
[6] Position control integral calculus gain
PG2 float [６] Ｓ１～W2 axis control gain
VG1 float [0-2] Tip coordinate RMRC control X, Y and Z direction gain (not
used)
[3-5] Tip coordinate RMRC control X, Y and Z rotational
direction gain (not used)
[6] Orientation control integral calculus gain
TG1 float [0-6] Not used
PCM float [0] Angle control large size (S1, S2) motor angle deviation
anomalous threshold value [rad]
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WARNING