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ID : 2963
Robot Controller Setting
Set a robot controller with a teach pendant.
It is necessary to restart the controller after changing the setting to reflect.
Operation path: Basic screen-[F6 Setting]-[F5 Communication Settings]-[F5 SlaveMotion Settings]
To edit [F5 SlaveMotion Settings], the log-in level needs to be the Maintainer.
| Item Name | Range | Default | Description |
|---|---|---|---|
| Slave Motion setting | 0 to 1 | 0 | Enabling SlaveMotion, communication protocol can be selected. 0: Disable 1: Enable |
| Slave Motion sync option | 0 to 1 | 0 | To notify the update of command value with EtherCAT master devices is able to reduce the cause of those errors of speed limit over and acceleration limit over, which were caused due to the synchronous deviation because of the communication delay.
If you select "1: Enable notification", execute the notification of the update of command value from EtherCAT master. The notification of update uses Controlword bit 5, bit 6. For details, refer to the section of "Device Control". 0: Disable 1: Enable |
| Communication cycle of Slave Motion | 1, 2, 4, 8, 16, 32 | 4 | Communication cycle is selectable. If you set to 250us, 500us, set "SlaveMotion synchronous option" to "1: Enable notification", and execute the notification of the update of command value from EtherCAT master. The notification of update uses Controlword bit 5, bit 6. For details, refer to the section of "Device Control". 1: 250us 2: 500us 4: 1ms 8: 2ms 16: 4ms 32: 8ms |
| Station alias setting | 0 to 2 | 0 | To write to Station Alias of EtherCAT slave device is possible when the controller starts up. If "0: RC8" is selected, the following "Station alias no." will be used. If "1:EEPROM" is selected, the value that was written to EEPROM mounted on the EtherCAT Slave Board (Motion) will be used. EEPROM is able to read/write from EtherCAT master device. If "2:Unused" is selected, the value of Station Alias will be 0. 0: RC8 1: EEPROM 2: Unused |
| Station alias no | 0 to 65535 | 0 | If "Station alias setting" is "0:RC8", this setting value will be written as the value of Station Alias when the controller starts up. |
ID : 2963