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ID : 10973

Path Parameter Setting

This section describes how to set path parameters, which determine the auxiliary axis operation conditions such as speed, acceleration, and motion range.

Setting through WINCAPSIII

1

Select [Joint Setting Table] in the [Project] tab in WINCAPSIII.

2

Change path parameters in the [Joint Setting] tab on the [Joint Setting] screen.

Specify the parameters you want to adjust and then press [OK].

Pressing [OK] will save the settings.

For details of each parameter, refer to the “Path parameter list” at the bottom of this page.

Setting through the Smart TP

1

Operation path: Top screen - [F2 Arm] - [F12 Maintenance] - [F10 Joint Settings]

After the [Joint Settings] screen appears, press [F4 Path Parameter].

2

You can check and set path parameters on the window appearing after [F4 Path Parameter] is pressed.

3

Select an axis tab for which you want to adjust the path parameters.

Adjust the setting of each path parameter, then press [OK].

For details of each parameter, refer to the “Path parameter list” at the bottom of this page.

4

After setting all the path parameters, press [OK].

This will save the path parameter setting and take you back to the [Joint Settings] screen.

Path parameter list

Parameter name Entry range Factory default Unit Description Remarks

Boundless rotation

(Finite, Infinite)

 "Finite"
or
"Infinite"		 Finite   To rotate the motor 32768 times or more in the same direction, set this parameter to 1: Infinite. Setting this parameter to "1: Infinite" requires the Motion limit detection parameter to be set to "0: Disabled".

Joint structure

(Linear, Rotate)

 "Linear"
or
"Rotate"		 Linear   If your optional mechanism to be connected to the specified motor has a sliding joint, then set 0: Linear; if a rotary joint, set 1:Rotate.  

Polarity

 "0: No sign inversion"
or
"1: Sign inversion occurs"		 0: No sign inversion   If you want the auxiliary axis to rotate oppositely to the rotational direction in which the axis moves in the positive direction, set this parameter to "1: Sign inversion occurs". Note that the rotational direction in which the axis moves in the positive direction varies depending on the servo amplifier maker.
Max Motor rotation[rpm] 1 to
6000		 3000 rpm Set the maximum speed of the specified motor.  
Max Motor accel time[ms] 1 to
100000000		 200 ms Set the motor acceleration time required for the specified motor to reach the maximum speed.  
Gear ratio, Lead length 0.00001 to
21474.83647		 50.00000   For rotary joints, set the deceleration ratio (motor rotation/joint rotation). For sliding joints, set the lead (movement) per motor rotation.  

Motion limit detection

 "Disabled" or "Enabled" Enabled   To make the controller check the motion limit and issue an error if the specified joint is out of the range, set 1: Enabled. Setting the Boundless rotation parameter to "1: Infinite" requires this parameter to be set to "0: Disabled".
Positive software motion limit [mm],[dig] 500

For rotary joints : deg

For sliding joints : mm

 Set the positive motion limit.  
Negative software motion limit [mm],[deg] -1000000 to
1000000		 0.000

For rotary joints : deg

For sliding joints : mm

 Set the negative motion limit.  
RANG[mm], [deg] -21474.83648 to
21474.83648		 0.00000

For rotary joints : deg

For sliding joints : mm

 Set the RANG value.  
Rotation radius[mm] 0 to
100000		 1000 mm

For rotary joints, set the maximum radius of rotation.

For sliding joints, no setting is required.

 For details, see "Setting the Radius of Gyration”.
AutoPositionClear "Disabled"
or
"Enabled"		 Enabled  

Set whether to execute POSCLR automatically.
If the axis rotates 360 degrees or more, the value is modified to the value of less than 360 degrees and displayed.
If the degree is +360 or more, positive (+) value is displayed.
If the degree is -360 or less, negative (-) value is displayed.
To activate this setting, set the Boundless rotation to "Infinite" and the Joint structure to "Rotate".

(Note 1)

Note1 : When [AutoPositionClear] is set to [Enabled], if the angle of the current position is the multiple of +360 degrees, Posclr will reset the axis to 0 degrees. However, it may set to +360 degrees due to the internal calculation error. Also, the multiple of -360 degrees may set to -360 degrees. Therefore, the motion command that has been written in immediately after Posclr may perform unexpected behavior.

ID : 10973

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