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6. System setting
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6
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6.2.2 Serial port ........................................ 6 - 31
1: Teach Pendant (CNTP) ............................. 6 - 31
2: Private serial port for I/O board ................ 6 - 31
3: Serial port #1 (CNSIO) ........................... 6 - 32
4: Serial port #2 (OPSIO) ........................... 6 - 33
6.2.3 Robot ready ........................................ 6 - 34
6.2.4 Home position registration .......................... 6 - 35
6.2.5 Return to the previous position ..................... 6 - 36
6.2.6 End relay output time ............................... 6 - 37
6.2.7 Interlock error time ................................ 6 - 38
6.2.8 External error output ............................... 6 - 39
6.2.9 Power Saving : PWM OFF .............................. 6 - 42
6.2.10 Shift limit ....................................... 6 - 43
6.2.11 Setting the user key ............................... 6 - 44
6.2.12 Coordination system registration ................... 6 - 46
1: User coordination registration ................... 6 - 46
2: Pedestal tool coordination system ................ 6 - 48
6.3 Machine parameter ........................................... 6 - 49
6.3.1 Tool data .......................................... 6 - 50
6.3.2 Axis Constant ...................................... 6 - 54
6.3.3 Soft limit ......................................... 6 - 55
6.3.4 Arm interference angle .............................. 6 - 56
6.3.5 Encoder offset calibration .......................... 6 - 57
6.3.6 Accel./Decel. speed parameter ....................... 6 - 59
6.3.7 B축 axis dead zone .................................. 6 - 60
6.3.8 Accuracy ........................................... 6 - 61
6.3.9 Speed .............................................. 6 - 64
6.3.11 Additional load per each axis ...................... 6 - 65
6.4 Application parameter ...................................... 6 - 67
6.4.1 Spot & Stud ........................................ 6 - 68
1: Welding parameter ................................ 6 - 69
2: Servo gun parameter .............................. 6 - 71