User`s manual

6-19
6
Parameter description
6. Parameter description
Parameter
No.
Parameter
name
Setting range
[Default value]
Description
FA-23 Homing mode
L-F
L-r
H1-F
H1-r
H2-F
H2-r
CP
t-F
t-r
S-F
S-r
[Depends on model]
This parameter specifies the homing mode and
return-to-origin direction.
Setting
Return-to-origin
direction
Return-to-origin
operation
L-F
Do not change.
L-r
H1-F
H1-r
H2-F
H2-r
CP
t-F Forward run
Stroke end method
t-r Reverse run
S-F Forward run
Sensor method
S-r Reverse run
When the return-to-origin mode (FA-23) is set
to "stroke end method" (t-F, t-r), the robot driver
determines whether the robot has reached its stroke
end (mechanical end) as follows:
When the robot comes into contact with its stroke
end during return-to-origin operation, the current
increases. When the current exceeds the rated
current Ir and the integrated current reaches the
current Ia specified by the stroke-end current
parameter (Fb-36) as shown below, the robot driver
determines that the robot has reached its stroke end.
Current
() )
× (Fb-37)lr–
100
(Fb-36)
×Imax>Ir-Ia
2
2
22
¤
Ir: Rated current
Ia: Stroke end
current (Fb-36)
Time
(
(
)
Note: Return-to-origin operation stops and the servo
locks when the ORG terminal is switched from
ON to OFF.
FA-24
Servo OFF wait
time
0.00 to 1.00
(s)
[0.05]
Sets the time from when Servo ON command is
turned off until servo ON status is actually cleared.
Note: This parameter allows the servo to delay
turning off until the specified wait time elapses
after activating the brake. Set this wait time to
counteract delays in the brake operation. Use
this parameter as needed when stopping the
robot such as after positioning is complete.
FA-25
Operation range
at machine
diagnosis
1 to 255
(rotations)
[10]
Set the allowable rotation range of the robot during
mechanical system diagnosis. Mechanical systems
are diagnosed in the positive/negative range of the
allowable setting range.