Concurrent I/O•Parameter - Motoman

2.2 System Conform ParametersS1CxG065: MIRROR SHIFT SIGN INVERSIONThis parameter sets which axis to be shifted (invert the sign).1ST AXIS (0: NOT INVERT, 1: INVERT)6TH AXISS1CxG070 to S1CxG085: PULSE SOFT LIMITSoft limit is set independently for each axis by pulse value setting. Set current value (pulsevalue) of the axis at the soft limit set up position.OPERATIONAREASOFT LIMITLIMIT SWITCHMECHANICALOPERATIONLIMITS1CxG086 to S1CxG093: ALLOWABLE MOVE AMOUNT ATSTARTINGThe difference between the position at which servo power was cut off for an emergency stopand the position at which the servo power was turned on again is compared with the value setin this parameter. If the difference in the positions compared is greater than the setting valuein the parameter when restarting , an alarm is displayed. The allowable move amount checkwill not be executed on the axis in which “0” data have been set in this parameter.S2C PARAMETERSS2C001: CUBE SOFT LIMIT CHECKThis parameter specifies whether to check cube the soft limit. More than one soft limit can bespecified.0 : NO CHECK1 : WITH CHECKd7d0CUBE 1 SOFT LIMIT (BASE COORDINATE OF ROBOT 1 CONTROL POINT)CUBE 2 SOFT LIMIT (BASE COORDINATE OF ROBOT 2 CONTROL POINT)CUBE 3 SOFT LIMIT (BASE COORDINATE OF ROBOT 3 CONTROL POINT)If “WITH CHECK” is selected, set up the parameters as in the table below.S3C000 to S3C017 Cube Soft Limit2-6