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III – The axes’ parameters

S900–II CAN and AXES Configuration

Version 2.0 |–>

III – 2. The robot axes

III – 2. 1. General axes’ parameters

PARAMETER

Abbreviation Description Criterion Corresponding value and function

610

746

882

TYP_AXE_X

TYP_AXE_Y

TYP AXE Z

Definition of the type of axis

Type of motorization

0 = Axis not installed.

1 = Brushless.

2 = Asynchronous

882

1018

TYP_AXE_Z

TYP_AXE_B

Type of initialization

0 = Initialization on cam and Init pulse.

16 = Initialization on cam only.

1154

TYP_AXE_C

Initialization forced when powered

0 = If the axis is stopped when the robot is powered

down, it relocates its position when powered up.

32 = The axis must be initialized each time the robot is

powered up (it will not return to the position at the time

it was powered down).

Counting directions

0 = Counting increases.

64 = Counting decreases.

Type of speed dr

ver

Asynchronous:

0 = Speed reference +/– 10V and validation input.

128 = Speed reference 0 – 10V and + direction and

– direction inputs.

Type o

speed dr

ver

Brushless:

0 = Validation input only

128 = Validation input and speed or power supply

reference selection input.

Type of regulator

0 = Validation of proportional regulator (P)

256 = Validation of PFC predictive regulator (option)

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