Adittional Axis Robot Mitsubishi

MITSUBISHI
Mitsubishi Industrial Robot

CRn-500 series INSTRUCTION MANUAL
ADDITIONAL AXIS INTERFACE
BFP-A8107-D
Supplemental Instruction About the power supply synchronization with the robot controller.
Thank you for purchasing the Mitsubishi Industrial Robot MELFA Series. This document explains the circuit connection for enhancing the safety in the addition axis connection system of the Mitsubishi Electric industrial robot. Therefore, check the content, and make correct circuit connection. <Supplementary contents > How to synchronize the power supply of the robot controller and the servo amplifier for addition axes is shown. So, the servo ON/OFF state of the addition axis can be synchronized with the servo ON/OFF state of the robot arm. However, when using the CR1-571/CR1B-571 controller, the servo sequence of the robot controller and the synchronization cannot be taken. Therefore, please make the sequence by the customer using the external input/output function of controller attachment. Table 1 shows the difference of function between the CR1/CR1B controller and CR2A/CR2B/CR3/CR4/CR7/CR8 controller. Table 1:The state of Magnet contactor control output of addition axis in using the addition axis function.
The operation state and the servo ON/OFF condition of the robot arm
Note 1)
No MODE switch T/B Existence
T/B Ena/Dis switch Disable Disable Enable
REMOVE T/B switch

Note2
T/B Deadman switch

Note2
Servo ON/OFF state ON ON ON OFF OFF ON
The trigger to which the servo ON/OFF state of the robot arm is changed .
The servo ON/OFF state of the robot arm
State of the output contact classified by controller
Note 3)
CR1 CR1B
CR2A CR2B
CR4,CR3 CR7,CR8
1 2 3 4 5 6 7 8 9 10 11
AUTO AUTO TEACH TEACH TEACH TEACH
Exists Exists Exists Exists Exists None
OFF
OFF ON ON OFF
The emergency stop switch was pushed from the control panel. The external emergency stop signal is active. The emergency stop switch of T/B was pushed.
OFF OFF OFF OFF OFF Keep ON OFF OFF Keep ON OFF OFF
The door switch is opened.
The servo error occurred The power supply was turned off
Note 1 It is shown that "-" does not ask the state at that time. Note 2 ON:The switch pushed in, OFF: The switch sticks out Note 3 In the case of the CR1/CR1B controller, shows the contact state of the emergency stop output. In the case of the CR2A, CR2B, CR3, CR4, CR7, and the CR8 controller, shows the contact state of the main circuit contact control output for Contact opening, Contact closing
CAUTION
Please refer to the example of the circuit shown in this document, and make circuit connection which can take the power supply synchronization of the robot controller and the servo amplifier for addition axes. When that is not right, the cases where servo-off of no axes including the addition axis is occur, and it becomes the cause of the damage or the personal injuries.
BFP-A8107-C03-A 1/3
1. The outline diagram of addition axis system
<Robot>
< Robot controller> <Addition axis amplifier box> NV RZ541A SSCNET cable CN1 cable (Fixing) CN2 cable (Fixing) ENC cable L1/L2/L3 MC1 MC2 L11/L12 Servo AMP A6-BAT
T/B
Fig. 1Outline diagram of addition axis system
CAUTION
Please arrange the required electric parts to the appropriate position after reading carefully the technical data of general-purpose servo amplifier.
2. The power supply synchronization, the main circuit power supply control for addition axes. (Example) The example of the standard circuit of the power supply synchronization with addition axis servo amplifier and the main circuit power supply control for addition axes is shown below corresponding to the robot controller. Refer to each figure, and make circuit connection which can take the power supply synchronization of the robot controller and the servo amplifier for addition axes
*1) G et the power supply for the controller from the secondary term inal of short circuit breaker (NV) built in the Addition axis am plifier box. *2) G et the power supply for the MC synchronization from the secondary term inal of short circuit breaker (NV) installed outside the controller.
NV
MC
MC
BB
Term inal To the internal circuit

Parallel I/O Dedicated O utput "SRVO N" 24V
RA1
<Addition axis am plifier box>

24V
Use the em ergency stop output term inal.
EMG OUT
RA2
Note) 1)Please preapre 24V Pow er Supply and RA1, 2. 2)Electric specification of EMGOUT : DC24V / 1A 3)Electric specification of Parallel I/O : DC24V / 0.1A 4)Please choose parts w hich agree w ith the specification. (RA1, 2)
<Robot controller>
Fig. 2Example of the standard circuit (CR1/CR1B controller) BFP-A8107-C03-A 2/3
*1) Get the power supply for the controller from the secondary terminal of short circuit breaker (NV) built in the Addition axis amplifier box. *2) Get the power supply for the MC synchronization from the secondary terminal of short circuit breaker (NV) built in the controller.
NV
MC
MC
NV
To the internal circuit
AXMC1
AXMC is outputted from the spare contact for internal servo power supplies. 1 2
Note)
<Addition axis amplifier box>

Note) Electric specification AC3 class(AC200 to 220V) 6A AC2 class(DC24V)12A
<Robot controller>
Fig. 3Example of the standard circuit (CR2A/CR2B controller)
*1) Get the power supply for the controller from the secondary terminal of short circuit breaker (NV) built in the Addition axis amplifier box. *2) Get the power supply for the MC synchronization from the secondary terminal of short circuit breaker (NV) built in the controller.
NV
MC
MC
NV
To the internal circuit
AXMC1
AXMC is outputted from the spare contact for internal servo power supplies.
1 2
Note)
<Addition axis amplifier box>

Note) Electric specification AC15 class(AC200V) 5A AC13 class(DC48V)3A
<Robot controller>
Fig. 4Example of the standard circuitCR3/CR4/CR7/CR8 controller
BFP-A8107-C03 3/3
Safety Precautions
Always read the following precautions and the separate "Safety Manual" before starting use of the robot to learn the required measures to be taken.
CAUTION CAUTION
All teaching work must be carried out by an operator who has received special training. (This also applies to maintenance work with the power source turned ON.) -> Enforcement of safety training For teaching work, prepare a work plan related to the methods and procedures of operating the robot, and to the measures to be taken when an error occurs or when restarting. Carry out work following this plan. (This also applies to maintenance work with the power source turned ON.) -> Preparation of work plan Prepare a device that allows operation to be stopped immediately during teaching work. (This also applies to maintenance work with the power source turned ON.) -> Setting of emergency stop switch During teaching work, place a sign indicating that teaching work is in progress on the start switch, etc. (This also applies to maintenance work with the power source turned ON.) -> Indication of teaching work in progress Provide a fence or enclosure during operation to prevent contact of the operator and robot. -> Installation of safety fence Establish a set signaling method to the related operators for starting work, and follow this method. -> Signaling of operation start As a principle turn the power OFF during maintenance work. Place a sign indicating that maintenance work is in progress on the start switch, etc. -> Indication of maintenance work in progress Before starting work, inspect the robot, emergency stop switch and other related devices, etc., and confirm that there are no errors. -> Inspection before starting work
WARNING CAUTION WARNING CAUTION CAUTION CAUTION
The points of the precautions given in the separate "Safety Manual" are given below. Refer to the actual "Safety Manual" for details.
CAUTION CAUTION CAUTION CAUTION CAUTION CAUTION CAUTION CAUTION CAUTION CAUTION CAUTION CAUTION CAUTION CAUTION WARNING CAUTION CAUTION
Use the robot within the environment given in the specifications. Failure to do so could lead to a drop or reliability or faults. (Temperature, humidity, atmosphere, noise environment, etc.) Transport the robot with the designated transportation posture. Transporting the robot in a non-designated posture could lead to personal injuries or faults from dropping. Always use the robot installed on a secure table. Use in an instable posture could lead to positional deviation and vibration. Wire the cable as far away from noise sources as possible. If placed near a noise source, positional deviation or malfunction could occur. Do not apply excessive force on the connector or excessively bend the cable. Failure to observe this could lead to contact defects or wire breakage. Make sure that the work piece weight, including the hand, does not exceed the rated load or tolerable torque. Exceeding these values could lead to alarms or faults. Securely install the hand and tool, and securely grasp the work piece. Failure to observe this could lead to personal injuries or damage if the object comes off or flies off during operation. Securely ground the robot and controller. Failure to observe this could lead to malfunctioning by noise or to electric shock accidents. Indicate the operation state during robot operation. Failure to indicate the state could lead to operators approaching the robot or to incorrect operation. When carrying out teaching work in the robot's movement range, always secure the priority right for the robot control. Failure to observe this could lead to personal injuries or damage if the robot is started with external commands. Keep the jog speed as low as possible, and always watch the robot. Failure to do so could lead to interference with the work piece or peripheral devices. After editing the program, always confirm the operation with step operation before starting automatic operation. Failure to do so could lead to interference with peripheral devices because of programming mistakes, etc. Make sure that if the safety fence entrance door is opened during automatic operation, the door is locked or that the robot will automatically stop. Failure to do so could lead to personal injuries. Never carry out modifications based on personal judgments, or use non-designated maintenance parts. Failure to observe this could lead to faults or failures. When the robot arm has to be moved by hand from an external area, do not place hands or fingers in the openings. Failure to observe this could lead to hands or fingers catching depending on the posture. Do not stop the robot or apply emergency stop by turning the robot controller's main power OFF. If the robot controller main power is turned OFF during automatic operation, the robot accuracy could be adversely affected. Moreover, it may interfere with the peripheral device by drop or move by inertia of the arm. Do not turn of the main power to the robot controller while rewriting the internal information of the robot controller such as the program or parameters. If the main power to the robot controller is turned off while in automatic operation or rewriting the program or parameters, the internal information of the robot controller may be damaged.
History
Print date 2001-02-06 2001-11-20
Instruction manual No. BFP-A8107-A BFP-A8107-B Error in writing correction.
Revision content Installation method of controller (CR1/CR2/CR2A/CR7/CR8) were added. Specification of J2-Super series was added. Error in writing correction.
2001-11-29 2005-07-28
BFP-A8107-C BFP-A8107-D
Error in writing correction. CR1B, CR2B and CR3 controller was added. Error in writing correction.
Preface
Thank you for purchasing Mitsubishi Electric Industrial Robot CRn-500 Series. The additional axis interface is a general-purpose servo amplifier control interface in combination with CRn-500 Series controller. Before use, be sure to read this manual for sufficient understanding. Then use the additional axis interface.
No part of this manual may be reproduced by any means or in any form, without prior consent from Mitsubishi. The details of this manual are subject to change without notice. An effort has been made to make full descriptions in this manual. However, if any discrepancies or unclear points are found, please contact your dealer. The information contained in this document has been written to be accurate as much as possible. Please interpret that items not described in this document "cannot be performed.". Please contact your nearest dealer if you find any doubtful, wrong or skipped point. Copyright (C) 1999 MITSUBISHI ELECTRIC CORPORATION
EMC Installation guideline and procedure Coupling procedure of Ferrite core for SSCNET cable
The Ferrite core should be installed to the SSCNET cable between controller and other SSCNET unit (ex. MR-J2B) within 30 cm from the controller (See below). If the customer do not install to the SSCNET cable with the Ferrite core, it will be become a trouble by Immunity and emission noise.
Additional AXISES card side
Nylon band
Ferrite core
SSCNET cable *1
Within 30cm
Make the cable one turn
*1 Caution If necessary, in case of under the environment of much immunity noise, remove the sheath of the SSCNET cable, and connect the shield that is inside a cable with the Earth [PE] terminal directly by the cable. Please see the manual of the servo-amplifier unit.
Contents
1. How to use the instruction manual .................................................................................................. 1 1.1 Content of instruction manual ................................................................................................... 1 1.2 Codes of instruction manual ..................................................................................................... 1 1.3 Terms used in instruction manual ............................................................................................. 2 2. Flow of works.................................................................................................................................. 3 2.1 Flow of works ........................................................................................................................... 3 3. Additional axis interface .................................................................................................................. 4 3.1 What is the additional axis interface?........................................................................................ 4 3.2 System configuration example of additional axis interface ........................................................ 5 3.3 Additional axis interface functions............................................................................................. 7 3.4 Additional axis interface specifications...................................................................................... 7 4. Confirmation of product................................................................................................................... 8 4.1 Standard configuration ............................................................................................................. 8 4.2 Necessary products.................................................................................................................. 8 4.3 Software version confirmation................................................................................................... 9 5. Connection and Wiring.................................................................................................................. 10 5.1 Connection of CR1/CR1B controller and servo amplifier......................................................... 10 5.2 Connection of CR2A/CR2B controller and servo amplifier ...................................................... 12 5.3 Connection of CR2/CR3/CR4/CR7/CR8 controller and servo amplifier................................... 14 5.4 Connection example of servo amplifier and servo motor......................................................... 15 5.5 Installing the Servo System .................................................................................................... 15 6. Servo system setting..................................................................................................................... 16 6.1 Servo amplifier setting ............................................................................................................ 16 6.2 Parameter setting of servo amplifier ....................................................................................... 16 7. Setting, Operation and Command Explanation of Robot Additional Axis ....................................... 17 7.1 Description of parameters....................................................................................................... 17 7.1.1 Parameter list ................................................................................................................ 18 7.1.2 Details of parameters..................................................................................................... 19 7.2 Confirmation of connection ..................................................................................................... 24 7.3 Try to use the robot additional axis ......................................................................................... 25 7.3.1 Turn ON the power supply............................................................................................. 25 7.3.2 Move the robot additional axis ....................................................................................... 25 7.3.3 Set the origin ................................................................................................................. 26 7.3.4 Create a program .......................................................................................................... 27 7.3.5 Execute a program ........................................................................................................ 27 7.3.6 End the operation .......................................................................................................... 27 7.4 Operation of the Robot's Additional Axis................................................................................. 28 7.4.1 Brake release ................................................................................................................ 28
7.4.2 Origin setting ................................................................................................................. 28 7.4.3 Servo ON/OFF .............................................................................................................. 28 7.4.4 Jog operation................................................................................................................. 29 7.4.5 Operation of position variable ........................................................................................ 29 7.4.6 MDI (Manual Data Input) compensation of robot additional axis .................................... 30 7.4.7 Operation....................................................................................................................... 31 7.4.8 Stop............................................................................................................................... 31
Stop ................................................................................................................................. 31
Emergency stop .............................................................................................................. 32
7.4.9 Error resetting................................................................................................................ 32 7.5 Explanation of commands ...................................................................................................... 33 7.5.1 Interpolation commands ................................................................................................ 33 7.5.2 Synchronous control of robot additional axis (travel axis) .............................................. 34 7.5.3 Position variables .......................................................................................................... 37 7.6 Example of System Configuration of the Robot's Additional Axis ............................................ 38 7.6.1 Travel axis system......................................................................................................... 38 8. User Mechanism Settings, Operation, and Commands ................................................................. 44 8.1 Procedure for Setting the Parameters of the User Mechanism ............................................... 44 8.2 Description of parameters....................................................................................................... 44 8.2.1 Parameter list ................................................................................................................ 45 8.2.2 Details of parameters..................................................................................................... 46 8.3 Confirmation of connection ..................................................................................................... 54 8.4 Try to use the mechanical additional axis. .............................................................................. 55 8.4.1 Turn ON the power supply............................................................................................. 55 8.4.2 Move the user mechanism............................................................................................. 56 8.4.3 Setting the Origin........................................................................................................... 57 8.4.4 Create a program .......................................................................................................... 58 8.4.5 Execute a program ........................................................................................................ 58 8.4.6 End the operation .......................................................................................................... 58 8.5 Operation of the User Mechanism .......................................................................................... 59 8.5.1 Brake release ................................................................................................................ 59 8.5.2 Origin setting ................................................................................................................. 59 8.5.3 Servo ON/OFF .............................................................................................................. 59 8.5.4 Jog operation................................................................................................................. 59 8.5.5 Operation of position variable ........................................................................................ 60 8.5.6 Operation....................................................................................................................... 60 8.5.7 Stop............................................................................................................................... 60 Stop ................................................................................................................................. 60 Emergency stop ............................................................................................................. 61
8.5.8 Error resetting................................................................................................................ 61 8.6 Explanation of commands ...................................................................................................... 62 8.6.1 Position variables .......................................................................................................... 62 8.6.2 Commands .................................................................................................................... 63 8.7 Example of System Configuration of the User Mechanism ..................................................... 71 8.7.1 Rotation table system .................................................................................................... 71 8.7.2 System with multiple axes ............................................................................................. 79 9. Design and Engineering................................................................................................................ 88 9.1 Interface for servo amplifier .................................................................................................... 88 9.1.1 Connector pins of additional axis interface SV2(CR2/CR3/CR4/CR7/CR8 Controller) ... 88 9.1.2 Connector pins of additional axis interface CON1(CR1/CR1B/CR2A/CR2B Controller) . 89 9.1.3 Example of connection with servo amplifier ................................................................... 90 10. Such a Case ............................................................................................................................... 93 11. Appendix..................................................................................................................................... 94 11.1 Error list................................................................................................................................ 94
1.How to use the instruction manual
1. How to use the instruction manual

This manual describes the functions, which are added or changed in the additional axis interface. For the functions and their operation methods provided in the standard controller, refer to separate "Instruction Manual/ Controller setup, basic operation, and maintenance". Moreover, for the functions and their operation methods prepared in the servo amplifier and servomotor, refer to "Instruction Manual for Servo Amplifier and Servomotor".
1.1 Content of instruction manual

Through the following configuration, this manual describes the functions, which are added or changed in the additional axis interface. Table 1.2.1 Content of instruction manual
Chapter 1 2 3 4 5 6 7 Title How to use the instruction manual Flow of works Additional axis interface Confirmation of product Connection and Wiring Servo system setting Setting, Operation and Command Explanation of Robot Additional Axis Content This section describes how to use this document (Additional Axis Interface Users Manual). This section describes the work required to build an additional axis system. Please follow the procedure completely. This section describes the functions and specifications of the additional axis interface. Check whether all products required for building a system are available, and the version of the controller for compatibility. This section describes the connection and wiring of the controller and the servo system. Be sure to install the servo amplifier and the motor exactly as instructed in this section. This section describes how to set up the servo system. The case in which the additional axis is controlled in synchronization with the robot arm (mechanism No. 1) is described. A series of operation methods from the parameter setting, start to the end, and the added and changed commands are described. The case in which the additional axis is used as the multi mechanism (controlled asynchronously with the robot arm) is described. A series of operation methods from the parameter setting, start to the end, and the added and changed commands are described. To install the additional axis interface, the specifications of the necessary connector and the system configuration examples are described. Referring to this chapter, use the additional axis interface further more. When the additional axis interface is used, a poor motion or error may occur. For the solving methods, refer to this chapter as necessary. Since the errors added to use the additional axis interface are herein described, refer to them as necessary. For the parameter error list and others not directly concerned with the commands and additional axis connection, refer to the items of "Instruction Manual for Robot Controller".
User Mechanism Settings, Operation, and Commands
9 10
Design and Engineering Such a Case
11
Appendix
1.2 Codes of instruction manual

This manual uses the codes and their expression as shown in Table 1.2.1. Table 1.2.1 Codes of instruction manual
Code [JOINT] [STEP/MOVE] + [+X (J1)] (A) (B) [STEP/MOVE] + ([ADD ] [RPL ]) (A) (B) (C) Meaning If [ ] is added in the sentence as shown in the left, it means the key of the teaching pendant. It means that (B) key is pressed with (A) key pressed. This example (jog operation) means that [+X(J1)] key is pressed with [STEP/MOVE] pressed. It means that (B) key is pressed and released with (A) key pressed, and then (C) is pressed. This example (position compensation) means that [ADD ] key is pressed and released with [STEP/MOVE] key pressed, and [RPL ] key is pressed.
1.How to use the instruction manual
1.3 Terms used in instruction manual

The following terms are used in this manual. (1) Additional axis interface The additional axis interface means a general-purpose servo amplifier control interface which is used in combination with CRn-500 Series controller. (2) Standard system This means the system which does not use the additional axis interface, a configuration of CRn-500 Series controller and robot arm. (3) Additional axis system This means the system which uses the additional axis interface, a configuration of CRn-500 Series controller, robot arm and additional axis. (4) Servo system A total of the servo amplifier and servomotor is called the servo system. (5) Additional axis This means the axis, which is controlled with the additional axis interface. The robot additional axis and mechanical additional axis are generally called the additional axes. (6) Robot additional axis The robot additional axis means the axis, which is added to the robot in order to control the additional axis in synchronization with the robot arm (mechanism No. 1). As special, the axis used as the 7th axis of the robot is called the additional axis 1, and the axis used as the 8th axis is called the additional axis 2. (7) User mechanism When the additional axis is used as a multi-mechanism (controlled asynchronously with the robot arm), each axis of the mechanism is called a user mechanism. (8) Multi mechanism The multi mechanism means that plural robots (mechanism) are controlled from one controller.
2.Flow of works
2. Flow of works
The flow of the works for the additional axis interface is shown below. Referring to the following, proceed with the works without excess and shortage.
2.1 Flow of works

1. Determine the specifications of the additional axis. .. Refer to "this manual/3". Determine the control system of the additional axis. Either the robot additional axis (synchronous control with the robot arm Example: Travel axis) or mechanical additional axis (asynchronous control with the robot arm Example: Rotation table, XYZ coordinate mechanism) 2. Confirm the product. .. Refer to "this manual/4". Prepare the necessary products. 3. Connect the servo amplifier and motor. .. Refer to "this manual/5". Connect the wiring among the robot controller, servo amplifier and servomotor and set the servo amplifier (axis selection switches). 4. Set the parameters of the amplifier. .. Refer to "this manual/6" and "Instruction Manual for Servo Amplifier". Using the setup software of the servo amplifier, set the basic parameters AMS, POL, and FBP. Used as the robot additional axis Used as the mechanical additional axis 5. Set the parameters of the controller. 5. Set the parameters of the controller. .. Refer to "this manual/7.1 and 7.6". .. Refer to "this manual/8.1 and 8.2". Set the parameters of the robot controller. Set the parameters of the robot controller. Referring to the system configuration Referring to the system configuration example of "this manual/7.6", set them. example of "this manual/8.7", set them. 6. Confirm the connection and setting. 6. Confirm the connection and setting. .. Refer to "this manual/7.2". .. Refer to "this manual/8.3". Confirm the items of the check list again. Confirm the items of the check list again. 7. Set the origin. 7. Set the origin. .. Refer to "this manual/7.4.2". .. Refer to "this manual/8.5.2". Set the origin of the robot additional axis. Set the origin of the mechanical additional axis. 8. Adjustment 8. Adjustment .. Refer to "Instruction Manual for Servo .. Refer to "Instruction Manual for Servo Amplifier". Amplifier". As necessary, adjust the gain of the As necessary, adjust the gain of the additional axis. additional axis. 9. Create the program. 9. Create the program. .. Refer to "this manual/8.4.4, 8.6 and .. Refer to "this manual/7.3.4, 7.5 and 8.7". 7.6". Create a program and move the robot Create a program and move the robot additional axis. Referring to the system additional axis. Referring to the system configuration example of "this manual/8.7", configuration example of "this manual/7.6", create them. create them.
10. Finish
3.Additional axis interface
3. Additional axis interface

This section describes the functions and specifications of the additional axis interface.
3.1 What is the additional axis interface?

The additional axis interface is an interface, which uses the general-purpose servo amplifier (Refer to "Table 3.1.) of Mitsubishi and the corresponding servomotors in order to allow the plural above servomotors to be controlled from the robot controller. Table 3.1 Applicable servo systems Maker name Mitsubishi Electric Corp. Servo amplifier name MR-J2-Super series MR-J2 series Type MR-J2S-B (ABS must be designated.) MR-J2-B (ABS must be designated.)
(*) The J2-Super Series can be used with a robot controller of version G9 or later. As for the J2-Super Series servo amplifiers, use the servo amplifiers with software version of B0 or later.
CAUTION
When you are using an MELSERVO-J2 series, do not separate the power supply for the servo system and the power supply for the robot controller. If these power supplies are separated, the robot controller may not be able to detect an absolute position erase error of the servo amplifier depending on the operating procedure and, as a result, a position shift may occur. If the servo amplifier's battery has been consumed when the power to the servo system is turned on, servo amplifier error 25, "Encoder absolute position data lost," will occur. If the servo amplifier is powered on again in this state, this error will no longer occur, and the robot controller will not be able to detect this error. Therefore, if you need to separate the power supplies, be sure to verify on the servo amplifier's display that no error is occurring before powering on the servo amplifier. Also, if robot controller error 1120, " Encoder absolute position data lost," has occurred, immediately change the servo amplifier's battery and then reset the origin.
3.2 System configuration example of additional axis interface

If the function of the additional axis interface is used, the following system can be configured. (1) Robot additional axis Like the travel axis, etc., the axis starts moving and stops moving (as a part of the robot) in synchronization with the robot arm. (2) Mechanical additional axis Like the rotation table, positioning device, etc., the axis is separately (asynchronously) controlled regardless of the robot arm. Here, to control the axis as the mechanical additional axis, apply the program method of MELFA-BASICIV. When the MOVEMASTER command is used, the robot additional axis only can be used. "Fig. 3.2.1" shows the system in which the robot arm is arranged on the travel axis. In this case, the travel axis is a robot additional axis (controlled in synchronization with the robot arm).
Robot arm Servomotor CR1/CR1B controller
Expansion option box Travel axis unit Servo amplifier Fig. 3.2.1 Travel axis system (an example) (In the box: Additional axis interface card

"Fig. 3.2.2 " shows such an example as the rotation table is used as the mechanical additional axis (used as the multi mechanism). Robot arm CR1/CR1B controller Servomotor
Expansion option box (In the box: Additional axis interface card Rotation table Fig. 3.2.2 Rotation table system (an example) The figure below shows an example of a system consisting of a standard robot, a vertical moving axis and a rotary axis. Servo amplifier
CR1/CR1B controller
Robot arm Expansion option box (In the box: Additional axis interface card Vertical moving axis1 Servomotor 1 Vertical moving axis2
Servomotor 2
Servo amplifier 1 Servo amplifier 2
Rotation axis
Servomotor 3
Servo amplifier 3
Fig. 3.2.3 Multiple axis system (an example)
3.3 Additional axis interface functions

The additional axis interface has the following functions. (1) The robot controller can control a maximum of 2 axes such the travel axis, etc., as the 7th and 8th axes of the robot arm. (2) The robot controller can control the rotation axis and linear drive axis as the multi mechanism. Here, a maximum of 2 mechanisms excluding the robot arm, and a maximum of 3 axes per mechanism can be controlled. (3) As for the user mechanism, a maximum of three axes per unit, i.e., the first, second and third axes, can be controlled. (4) The additional axes can be done the jog operation from the teaching pendant. (5) The additional axes can be programmed with MELFA-BASICIV language method and MOVEMASTER command method. However, the MOVEMASTER command method does not correspond to the user mechanism function. Therefore, to program the user mechanism, use MELFA-BASICIV language. (6) The robot and robot additional axis can be synchronously controlled (Refer to "this manual/7.5.2Synchronous control of robot additional axis (travel axis) ".).
3.4 Additional axis interface specifications

The additional axis interface specifications are as follows. Table 3.4.1 Additional axis interface specifications Specification of robot Unit additional axis Unit/Controller Axis/Controller Axis 2 ABS method only
Note1)
Item Number of controllable robots (mechanisms) Number of control axes Number of control axes Applicable amplifier Applicable encoder Communication method Number of mountable additional axis cards Program method Control function Path control method Acceleration/ deceleration Position control Minimum command value Maximum motion range
Specification of user mechanism
3 8 3 MELSERVO-J2-Super series/ MELSERVO-J2 series SSCNET (differential communication) of Mitsubishi
Cards/Controller
Note2)
MELFA-BASICIV language method and MOVEMASTER command method CP control/PTP control
MELFA-BASICIV
Synchronous interpolation control PTP control The trapezoidal method/acceleration/deceleration time pattern can be set. Distance control/angle control can be selected. Actual value control with pitch/deceleration ratio setting mm or deg mm or deg 0.01 or 0.001
Note3) Note4)
Max. 80000.00(0) to +80000.00 (0)
Note1) ABS means the absolute value encoder. Note2) Additional axis cards are required only when the CR1/ CR1B/CR2A/CR2B controllers are used. Note3) The minimum command value can be changed with the PRGDPNTM parameter. Specifying 2 will set two decimal places and specifying 3 will set three decimal places. Do not specify 1 or smaller value and 4 or larger value. When using values of 1000.0 or larger, specify two decimal places. However, the minimum command values for robots with mechanism numbers 2 and 3 will follow the minimum command value for robots or mechanisms with mechanism number 1. Note4) Limit for each operation can be set at any position. However, the free plane limit cannot be used.
4.Confirmation of product
4. Confirmation of product
This section explains the contents to confirm before using additional axis.
4.1 Standard configuration

The standard configuration of the product purchased is as shown in "Table 4.1.1 Standard Configuration". The configuration parts are different corresponding to the controller to use. Confirm the configuration. Table 4.1.1 Standard Configuration
Part name Instruction manual Expansion option box Type name Q'ty CR1 CR1B CR2A CR2B CR2 CR3 CR4 CR7 CR8 Others BFP-A8107 CR1-EB3 1 1 1
Additional axis interface card 2A-RZ541
4.2 Necessary products

The products necessary in addition to the standard configuration are listed in "Table 4.2.1 Necessary products". For these main products, refer to "Instruction Manual for Servo Amplifier and Servomotor". Table 4.2.1 Necessary Products Part name Model name Q'ty Servo amplifier, servomotor, option, Refer to "Instruction Manual for 1 peripheral device Servo Amplifier and Servomotor". Battery Amplifier 2 MR-BAT or A6BAT (for absolute position detection system) quantity MRZJW3-SETUP131 if the Setup software 1 3 (For setup the parameter of servo amplifier MELSERVO-J2-Super series is used. and the graph indication, etc. ) Communication cable (Communication cable between personal 4 MR-CPCATCBL3M 1 computer and servo amplifier for setup software) Bus cable between controller and amplifier Note) MR-J2HBUS M 1 5 (Exclusive cable for communication (Cable length in : 0.5 and 1.5 [m]) between controller and servo amplifier) 6 Terminator MR-A-TM 1 Bus cable between amplifier and amplifier (Exclusive cable for communication MR-J2HBUS M Amplifier 7 between servo amplifier and servo (Cable length in : 0.5 and 1.5 [m]) quantity 1 amplifier) Note)The cable which connects robot controller and servo amplifier is MR-J2HBUSM which showed in the table. The MR-J2HBUSM-A can't be used, caution. No.
4.Confirmation of product
4.3 Software version confirmation

Verify that the software version of the CRn-500 Series controller is as shown in the table below. If a version earlier than those listed in the table is used, the additional axis interface may not be used or part of the available functions may be limited. Table 4.2.2 Version of robot controller Robot controller Software version CR1 Except for CR1 E1 or above F3 or above
The software version can be checked on the Teaching pendant screen. When the robot controller is powered on, the screen as shown below is displayed. The screen automatically changes from the teaching pendant version display to the robot controller version display.
Version of teaching pendant R28TB Ver.A3 Robot System Teachi ng Box JUST A MINUTE.
Controller type
Ver . F3 USER COPYRI GHT ( C) 1999 ANY KEY DOWN CRn- 5X X
Version of robot controller Robot type
Just a minute
5.Connection and Wiring
5. Connection and Wiring

This section explains the connection and wiring between the robot controller and the servo system. The method to connect the robot controller and the servo amplifier differs, depending on the robot controller used. Refer to the corresponding explanation.
5.1 Connection of CR1/CR1B controller and servo amplifier

In the case of the CR1/CR1B controller, the expansion option box and the additional axis interface card are mounted as shown below. Only one additional axis interface card may be mounted in any slot of the expansion option box. For details on the connection of the expansion option box and the removal of the chassis cover, refer to separate "Instruction Manual/ Controller setup, basic operation, and maintenance".
Front of controller Slot 1
Slot 3 Slot 2 Controller connection connector

Additional axis interface card
Front of
expansion option box
Fig. 5.1.1 Robot controller and inside the expansion option box (top side)
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Next, connect the cable. Connect the communication connector of the additional axis interface card (CON1) and the communication connector of the servo amplifier (CN1A) with the controller-amplifier bus cable. Feed the cable through the cable exit at the back of the expansion option slot. Fig. 5.1.3 Connecting the controller and the servo Amplifier," shows an example of the connection in which two amplifiers are connected. For details on the additional axis interface card, refer to "9.1.2Connector pins of additional axis interface CON1(CR1/CR1B/CR2A/CR2B Controller))."
CON1 connector
RTBUS connector
Fig. 5.1.2 Additional axis interface card general drawing

Rear of expansion option box Rear side cable outlet
Rear of controller
Servo amplifier
Servo amplifier
Bus cable between controller and amplifier To CN1A connector
Bus cable between controller and amplifier
Terminator
To CN1B connector To CN1A connector
Fig. 5.1.3 Connection of controller and servo amplifier Be sure to connect the end-terminal connector. If it is not connected, malfunction may occur.
CAUTION
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5.2 Connection of CR2A/CR2B controller and servo amplifier

In the case of the CR2A/CR2B controller, the additional axis interface card is mounted as shown below. Only one additional axis interface card may be mounted in any slot. For details on the removal of the chassis controller cover, refer to separate "Instruction Manual/ Controller setup, basic operation, and maintenance".
Slot 1 Slot 2 Slot 3
Additional axis interface card Front of controller
Fig. 5.2.1 Inside the controller (top side)
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Next, connect the cable. Connect the communication connector of the additional axis interface card (CON1) and the communication connector of the servo amplifier (CN1A) with the controller-amplifier bus cable. Feed the cable through the cable exit at the back of the expansion option slot. " Fig. 5.2.3 Connecting the controller and the servo Amplifier," shows an example of the connection in which two amplifiers are connected. For details on the additional axis interface card, see 9.1.2, "Connector Pin CON1 (for the CR1/ CR1B/CR2A/CR2B Controller) of the Additional Axis Interface Card."
CON1 connector
RTBUS connector
Fig. 5.2.2 Additional axis interface card general drawing

Rear of CR2A Rear side cable outlet Rear of CR2A controller
Servo amplifier
Servo amplifier
Bus cable between controller and amplifier To CN1A connector
Bus cable between controller and amplifier
Terminator
Fig. 5.2.3 Connecting the controller and the servo amplifier Be sure to connect the end-terminal connector. If it is not connected, malfunction may occur.
CAUTION
13
5.3 Connection of CR2/CR3/CR4/CR7/CR8 controller and servo amplifier

In the case of CR2/CR3/ CR4/CR7/CR8 controllers, connect the communication connector of the robot controller's control unit (SV2) and the communication connector of the servo amplifier (CN1A) with a dedicated communication cable. For details on the removal of the chassis controller cover, refer to separate "Instruction Manual/ Controller setup, basic operation, and maintenance". " Fig. 5.3.2 Connection of controller and servo amplifiers," shows an example of the connection in which two amplifiers are connected.
Control unit R6x2CPU
CR2 controller (Top view: inside)
CR3 controller (Front view: inside)
CR4/CR7/CR8 controller (Front view: inside)
Fig. 5.3.1 Control unit R6x2CPU position in the controller Control unit R6x2CPU Servo amplifier Bus cable between controller and amplifier Bus cable between amplifiers Servo amplifier
Terminator
To CN1B connector
To CN1A connector
Fig. 5.3.2 Connection of controller and servo amplifiers
CAUTION
Be sure to connect the end-terminal connector. If it is not connected, malfunction may occur.
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5.4 Connection example of servo amplifier and servo motor

(1) Connect the servo amplifier to the servomotor with the servomotor power cable and detector cable. For safety, securely ground them. (2) Connect the servomotor power cable to the motor output terminals U, V and W of the servo amplifier. (3) Connect the detector cable to the motor detector connector (CN2) of the servo amplifier. (4) Connect the ground wire to the ground terminal of the servo amplifier.
Servo amplifier
CN2 Servo motor
CN3 Encoder cable Motor power wire
Fig. 5.4.1 Connection example of servo amplifier and servomotor Note) For details of the connection, refer to "Instruction Manual for Servo Amplifier and Servomotor".
CAUTION
Every time after the motor, absolute position detector or other device is replaced, be sure to check the current position. If there is any displacement of the origin position, set the origin again.
5.5 Installing the Servo System

Install the servo system outside of the controller. For details on installation, refer to the Servo Amplifier Instruction Manual and the Servo Motor Instruction Manual.
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6.Servo system setting
6. Servo system setting

6.1 Servo amplifier setting
Using the axis selection switch (CS1) of the servo amplifier, set the axis No. of the servo. For an axis not used, set one of 8 to E. The correspondence between the control axis No. of the servo and the controller axis is determined by setting the parameter. Refer to "this manual/7.1.2Details of parameters" and "this manual/8.2.2Details of parameters". Here, for details of the axis selection switch (CS1) of the servo amplifier, refer to "Instruction Manual for Servo Amplifier". Axis selection switch (CS1) Table 6.1.1 Control axis No. of servo Setting value of axis Content selection switch (CS1) 0 1 2 3 4 5 6 7 8 9 to F Fig. 6.1.1 Control axis selection switch 1st axis 2nd axis 3rd axis 4th axis 5th axis 6th axis 7th axis 8th axis Not used. Do not set
Servo Amplifier
6.2 Parameter setting of servo amplifier

(1) Among the parameters of the servo amplifier, the basic parameter No. 1 AMS parameter is set to "0000" (incremental). Change this to "0001" (absolute value encoder). If it is not changed, it will be dangerous since the position deviation of the robot will occur. (2) Set the rotation direction (forward run/reverse run) of the motor from the robot controller. Be sure to set the rotation direction of the basic parameter No. 7 POL motor of the servo amplifier to "0" (CCW). (3) If the "MELSERVO-J2-Super series" servo amplifier is in use, set the basic parameter No. 6 FBP to a value that corresponds to the motor. For details on settings, refer to the Servo Amplifier Instruction Manual. (4) According to an target operated by the servomotor, set the parameters of the gain, etc. For the details of setting, refer to "Instruction Manual for Servo Amplifier".
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7.Setting, Operation and Command Explanation of Robot Additional Axis
7. Setting, Operation and Command Explanation of Robot Additional Axis

When the additional axis is controlled in synchronization with the robot arm (mechanism No. 1), the additional axis added to the robot is called the robot additional axis. This chapter describes a series of the operation methods from the parameter setting of the robot additional axis, start to end, and the added and changed commands.
7.1 Description of parameters

Before use, it is necessary to surely set the following parameters. The parameters set at the robot controller are shown in "Table 7.1.1 Parameter list". For the method to set the parameters, refer to separate "Instruction Manual/ Controller setup, basic operation, and maintenance".
CAUTION
After changing the parameters, turn the power supply of the controller from OFF to ON. Unless this is done, the changed parameters will not be valid. If any motor, absolute position detector, etc., is replaced or any parameter related to the mechanism and the axis configuration is changed, be sure to confirm the current position. If the origin is dislocated set the origin again. The parameters related to the axis configuration are the multi mechanism applied quantity (AXUNUM), mechanism No. designation (AXMENO), setting axis No. (AXJNT), unit system (AXUNT) and rotation direction (AXSPOL).
CAUTION
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7.1.1 Parameter list

The parameters are listed in the following "Table 7.1.1 Parameter list". For details of the parameters, refer to "this manual/7.1.2Details of parameters". Table 7.1.1 Parameter list
Parameter name AXUNUM Content Number of multi mechanisms used Mechanism No. designation Settable range 0 to 2 Number of Number of elements elements per axis 1 Default value 0 Explanation Be sure to set "0". Input the mechanism No. to the element which corresponds to the servo control axis No. used and be sure to set "0" for the axis not used. Designate what number of the axis of the robot arm is used for the additional axis. Unit system of additional axis 0 Angle (degree) 1 Length (mm) Set the rotation direction of the motor. 1 Forward run (CCW) 0 Reverse run (CW) Be sure to set "0" (CCW) at the "POL" parameter of the basic parameter No. 7 of the servo amplifier. Acceleration time (Unit: second) of additional axis Deceleration time (Unit: second) of additional axis Total speed ratio numerator of additional axis Total speed ratio denominator of additional axis Rated speed (Unit: r/min.) of motor Maximum speed (Unit: r/min.) of motor Encoder resolution of motor (Unit: pulse/rev) If it vibrates at JOG, set a larger value. (Unit: ms)
AXMENO
0 to 3
16
1 (per control axis of servo)
AXJNO
Setting axis No.
0 to 8
16
1 (Same as above) 1 (Same as above)
AXUNT
Unit system
0 or 1
16
AXSPOL
Rotation direction
0 or 1
16
1 (Same as above)
AXACC AXDEC AXGRTN AXGRTD AXMREV AXJMX AXENCR AXJOGTS
Acceleration time Positive real number Deceleration time Positive real number Total speed ratio numerator Total speed ratio denominator Rated speed Maximum speed Encoder resolution Positive integer Positive integer Positive integer Positive integer Positive integer
16 16 16 16 16 16 16 16
1 (Same as above) 1 (Same as above) 1 (Same as above) 1 (Same as above) 1 (Same as above) 1 (Same as above) 1 (Same as above) 1 (Same as above) 2 (per axis of robot)
0.20 0.20 1 10 2000 3000 8192 150.00
JOG smoothening Positive real number time constant Joint operating range A real number of 80000.00 to 80000.00
MEJAR
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Motion range The minimum values 80000.0, and maximum values are described 80000.0 in this order. (Unit: degree or mm) Designate the origin position designated by the user. Set a value within the range set in MEJAR (joint operating range). (Unit: degree or mm)
USERORG
User designated origin
A real number of 80000.00 to 80000.00
2 (Same as above)
0.00
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7.1.2 Details of parameters

Here, the parameters are described in details. (1) AXUNUM (number of multi mechanisms used) (2) AXMENO (mechanism No. designation) (3) AXJNO (Setting axis No.) (4) AXUNT (unit system) (5) AXSPOL (motor rotation direction) (6) AXACC (acceleration time) AXDEC (deceleration time) (7) AXGRTN (total speed ratio numerator) AXGRTD (total speed ratio denominator) (8) AXMREV (rated rotation speed) AXJMX (maximum rotation speed) AXENCR (encoder resolution) (9) AXJOGTS (JOG smoothening time constant) (10) MEJAR (joint operating range) (11) USERORG (user designated origin) Moreover, the parameter elements of (2) to (9) correspond to the control axis Nos. of the servo as shown in "Fig. 7.1.1 Control axis No. and parameter element of servo". If any personal computer support software (which enables the program editing, parameter setting, various monitors, etc., of the robot) is used, (10) and (11) are the mechanical parameters and the others are arranged in the common parameters. Not used. Parameter of element number 16: (0, 0, Servo control axis No. : 1st axis Servo control axis No. : 2nd axis Servo control axis No. : 3rd axis Servo control axis No. : 4th axis Servo control axis No. : 5th axis Servo control axis No. : 6th axis Servo control axis No. : 7th axis Servo control axis No. : 8th axis
0, 0, 0, 0, 0, 0,
0, 0, 0, 0, 0, 0, 0, 0)
Servo amplifier Additional axis interface card
Servo amplifier
Servo amplifier
Axis selection switch 0

Servo control axis No. 1st axis

Servo control axis No. 2nd axis

Servo control axis No. 8th axis
Fig. 7.1.1 Control No. and parameter element of servo
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(1) AXUNUM (number of multi mechanisms used) This parameter designates how many mechanisms are connected when the additional axis is used as the multi mechanism. To control the additional axis in synchronization with the robot arm, be sure to set "0" at (robot additional axis). When it is used as the robot additional axis, (2) AXMENO (mechanism No. designation) This parameter sets which mechanism the servomotor connected to the servo amplifier is connected to regarding each axis. To control the additional axis in synchronization with the robot arm, be sure to set "1" at (robot additional axis). [Example] When the servomotor set "Control axis No. of servo" as the 1st axis is controlled in synchronization with the robot arm (mechanism No. 1), set the AXMENO parameter as follows. AXMENO = 1, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0 (Set "1" to the 1st element.) (3) AXJNO (Setting axis No.) Regarding each axis, this parameter sets what number axis of the robot or mechanism the servomotor is used. To change an axis No. which has been set once (example: 7th axis 8th axis), first set "0" at AXMENO and turn the power supply of the controller from OFF to ON. The default value is "0". Additional axis 1 Additional axis 2 [Example] When the servomotor set "Control axis No. of servo" as the 1st axis is used as the additional axis 1, AXJNO = 7, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0 (Set "7" to the 1st element.) (4) AXUNT (unit system) Regarding each axis, this parameter sets the unit system of the servomotor, which can be used. Used as the linear drive axis (Unit: mm) Used as the rotation axis. (Unit: degree) (Default value) [Example] When the servomotor set "Control axis No. of servo" as the 1st axis is used as the linear drive axis (Unit: mm), AXJNO = 1, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0 (Set "1" to the 1st element.) (5) AXSPOL (motor rotation direction) Regarding each axis, this parameter sets in which direction the servomotor is rotated when the joint position data is increased. The rotation direction is illustrated in the parameter details of "Instruction Manual for Servo Amplifier". Moreover, set the rotation direction with the robot controller. Forward run (CCW) (default value) as the value of the joint coordinate is increased Reverse run (CW) as the value of the joint coordinate is increased 0 1 1 0 7 8 0
Here, be sure to set "POL" parameter of the basic parameter No. 7 of the servo amplifier to "0" (CCW). [Example] When the rotation direction of the servomotor set "Control axis No. of servo" as the 1st axis is reversed as the joint position data is increased, AXSPOL = 1, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0 (Set "1" to the 1st element.)
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(6) AXACC (acceleration time) AXDEC (deceleration time) Regarding each axis, these parameters set the acceleration/deceleration time from the stop state to the maximum speed when the override of the servomotor which can be used is 100%. The default value is 0.20 (seconds). [Example] When the acceleration/deceleration time of the servomotor set "Control axis No. of servo" as the 1st axis is set as follows, Acceleration time Deceleration time 0.40 (seconds) 0.40 (seconds)
AXACC = 0.40, 0.20, 0.20, 0.20, 0.20, 0.20, 0.20, 0.20, 0.20, 0.20, 0.20, 0.20, 0.20, 0.20, 0.20, 0.20 (Set "0.40" to the 1st element.) AXDEC = 0.40, 0.20, 0.20, 0.20, 0.20, 0.20, 0.20, 0.20, 0.20, 0.20, 0.20, 0.20, 0.20, 0.20, 0.20, 0.20 (Set "0.40" to the 1st element.) (7) AXGRTN (total speed ratio numerator) AXGRTD (total speed ratio denominator) These parameters set the numerator and denominator of the total speed ratio of the servomotor which can be used. As the total speed ratio, set a reduced fraction of the integers of the numerator and denominator (1/18.5 2/37). The default value of AXGRTN is "1", and the default value of AXGRTD is "10". [Example] When the total speed ratio of the servomotor axis set "Control axis No. of servo" as 1st axis is 25/8(mm/rev), AXGRTN = 25, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1 (Set "25" to the 1st element.) AXGRTD = 8, 10, 10, 10, 10, 10, 10, 10, 10, 10, 10, 10, 10, 10, 10, 10 (Set "8" to the 1st element.) The total speed ratio of the direct moving axis is calculated as follows. From the relationship of the gear ratio and ball screw lead of "Fig. 7.1.2 Inside of direct moving unit", the movement amount of the load per rotation of the motor is as follows. 5 5/8 = 25/8 [mm/rev] Accordingly, since the motor speed when the load is moved 1mm becomes 8/25 rotation, the total speed ratio becomes as follows. AXGRTN/AXGRTD = 1/ (8/25) = 25/8 Gear b Load
Servo motor
Gear a
Ball screw
Gear ratio: 5/8 Ball screw lead: 5mm/rev
Fig. 7.1.2 Inside of direct moving unit
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The total speed ratio of the rotation axis is calculated as follows. When the table of "Fig. 7.1.3 Inside of rotation table" rotated one rotation (360 degrees), the motor speed becomes 10 rotations. Therefore, the total speed ratio becomes as follows. AXGRTN/AXGRTD = 1/10 Rotation table
Gear b Gear a Gear ratio: 1/10
Servomotor Fig. 7.1.3 Inside of rotation table (8) AXMREV (rated rotation speed) AXJMX (maximum rotation speed) AXENCR (encoder resolution) These parameters set the properties of the servomotor, which can be used. Referring to the specifications in "Instruction Manual for Servo Amplifier", set the values which are suitable for the applied servomotor. The default value of AXMREV is 2000(r/min.), the default value of AXJMX is 3000(r/min.) and the default value of AXENCR is 8192 (pulse/rev). [Example] When the properties of the servomotor set "Control axis No. of servo" as the 1st axis are as follows. Rated speed Maximum speed Encoder resolution 3000 (r/min) 4000 (r/min) 16384 (pulse/rev)
AXMREV = 3000, 2000, 2000, 2000, 2000, 2000, 2000, 2000, 2000, 2000, 2000, 2000, 2000, 2000, 2000, 2000 (Set "3000" to the 1st element.) AXJMX = 4000, 3000, 3000, 3000, 3000, 3000, 3000, 3000, 3000, 3000, 3000, 3000, 3000,3000, 3000, 3000 (Set "4000" to the 1st element.) AXENCR = 16384, 8192, 8192, 8192, 8192, 8192, 8192, 8192, 8192, 8192, 8192, 8192, 8192, 8192,8192, 8192 (Set "16384" to the 1st element.) (9) AXJOGTS (JOG smoothening time constant) Set this parameter to reduce the vibration if it occurs during jog of the additional axis. If any excessive value is set, the acceleration/deceleration time becomes long during jog operation. The settable value is in the range of positive real numbers. The default value is 150.00 (ms). [Example] When this parameter value is set to "200.00" against vibration of the axis set "Control axis No. of servo" as the 1st axis, AXJOGTS = 200.00, 150.00, 150.00, 150.00, 150.00, 150.00, 150.00, 150.00, 150.00, 150.00, 150.00, 150.00, 150.00, 150.00, 150.00, 150.00 (Set "200.00" to the 1st element.)
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(10) MEJAR (joint operating range) For this parameter, set the motion range of the additional axis in order of minimum value and maximum value. Since the 1st to 12th elements are the values set for the axes of the robot, never change the values. The settable values are real numbers in the range of 80000.00 to 80000.00. The default values are 80000.00 and 80000.00. [Example] When the motion range of the additional axis 1 (7th axis) is set for the robot of RV-20A as follows, Minimum value Maximum value 2000mm 3000mm
MEJAR = 160.00, 160.00, 90.00, 140.00, 30.00, 160.00, 160.00, 160.00, 135.00, 135.00, 200.00, 200.00, 2000.00, 3000.00, 80000.00, 80000.00 (+/- value of L1(J7) axis.), (+/- value of L2(J8) axis.) (Set "2000.00" to the 13th element and "3000.00" to the 14th element.) (11) USERORG (user designated origin) This parameter sets the origin position set when the user designated origin is set. The origin of the additional axis set here is also reflected on the other origin setting method (mechanical stopper, jig and ABS system). The settable value is in the range of 80000.00 to 8000.00, being a real number in the range set at MEJAR (joint operating range). [Example] When the user designated origin of the additional axis 1 (7th axis) is set for the robot of RV-20A as follows, Origin position designated by the user 1500mm USERORG = 0.00, 0.00, 90.00, 0.00, 90.00, 0.00, 1500.00, 0.00 (Set "1500.00" to the 7th element.)
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7.2 Confirmation of connection

Before use, confirm the following items again. Confirmation of connection No. 1 2 3 4 5 6 7 8 9 10 11 12 13 14 15 16 Confirmation item Is the teaching pendant securely fixed? Is the exclusive communication cable properly connected between the controller and servo amplifier? (Refer to "Instruction Manual for Servo Amplifier".) Is the terminator properly connected to the servo amplifier? (Refer to "Instruction Manual for Servo Amplifier".) Is the detector cable properly connected between the servo amplifier and motor? (Refer to "Instruction Manual for Servo Amplifier".) Is the servomotor power cable properly connected between the servo amplifier and motor? (Refer to "Instruction Manual for Servo Amplifier".) Is the ground wire properly connected between the servo amplifier and motor? (Refer to "Instruction Manual for Servo Amplifier".) Is the ground cable from the servo amplifier properly grounded? (Refer to "Instruction Manual for Servo Amplifier".) Is the brake unit properly connected? (Refer to "Instruction Manual for Servo Amplifier".) (When it is used,) Is the emergency stop circuit properly connected? (Refer to "Instruction Manual for Servo Amplifier".) (When it is used,) Are the parameters of the additional axis interface properly set? (Refer to "this manual/7.1Description of parameters".) Are the parameters of the servo amplifier properly set? (Refer to "Instruction Manual for Servo Amplifier".) Is the basic parameter No. 1 AMS of the servo amplifier set to "0001"? (Refer to "Instruction Manual for Servo Amplifier".) Is the basic parameter No. 7 POL of the servo amplifier set to "0"? (Refer to "Instruction Manual for Servo Amplifier".) If the "MELSERVO-J2-Super series" servo amplifier is in use, has a value that corresponds to the motor been set in the basic parameter No. 6 FBP? For details, refer to the Servo Amplifier Instruction Manual. Is the power supply of the controller turned OFF once after the parameters are set? Is the axis selection switch (CS1) of the servo amplifier properly set? After the preparation is completed, turn OFF the power supply of the additional axis system. Check
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7.3 Try to use the robot additional axis

Regarding the robot additional axis, this chapter describes the basic operation from power turn-ON through operation to the end. Turn ON the power supply.
.. Refer to "this manual/7.3.1Turn ON the power supply" .. Refer to "this manual/7.3.2Move the robot additional axis" .. Refer to "this manual/7.3.3Set the origin" .. Refer to "this manual/7.3.4Create a program" .. Refer to "this manual/7.3.5Execute a program" .. Refer to "this manual/7.3.6End the operation"
Move the robot additional axis.
Set the origin.
Create the program.
Execute the program.
End
CAUTION
If any vibration occurs or any motion is not satisfied during operation of the additional axis, it is necessary to adjust (tune) the servo system. Referring to "Instruction Manual for Servo Amplifier and Servomotor", adjust it. If the motor or absolute position detector has been replaced or the parameters related to mechanisms and axis structure have been changed, be sure to check the current position before performing any operation. If the origin position has been displaced, set the origin again. The above parameters are AXUNUM, AXMENO, AXJNO, AXUNT and AXSPOL.
CAUTION
7.3.1 Turn ON the power supply

Confirm the safety around the robot and additional axis and turn ON the power supply. (1) Turn ON the power supply of the servo system. (2) Turn ON the power supply of the controller. Turn ON the power supply of the peripheral device earlier than the robot controller. If the power supply of the robot controller is turned ON earlier than the peripheral device, the robot controller may sometimes not recognize the peripheral device.
CAUTION
7.3.2 Move the robot additional axis

Move the axis by jog the additional axis of the teaching pendant. (1) On the operation panel on the front of the controller, set the mode switch to "Teach". (2) Turn the "ENABLE/DISABLE" switch of the teaching pendant to "ENABLE". (3) afterward, operate as follows.
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Table 7.3.1 Robot additional axis, jog operation No. Teaching pendant screen display <MENU> 1. TEACH 3. FILE 5. MAINT. JOINT J1: J2: J3: Work details
Pressing the dead man switch on the rear of the teaching pendant, press [STEP/MOVE] key and turn ON the servo. 2. RUN Keeping the dead man switch pressed, proceed with the 4. MONI. following operation. If the dead man switch is released on the 6. SET way, the servo will be turned OFF. In this case, repeat this process. 10% Pressing [STEP/MOVE] key, press [JOINT] key, "Joint jog mode" "Additional axis jog mode" the jog mode varies in this order. Display the screen 3 with this operation. [STEP/MOVE] + [+X (J1)] key: The additional axis 1 moves in the + direction. [STEP/MOVE] + [X (J1)] key: The additional axis 1 moves in the direction. [STEP/MOVE] + [+Y (J2)] key: The additional axis 2 moves in the + direction. [STEP/MOVE] + [Y (J2)] key: The additional axis 2 moves in the direction. Release the axis designation key, and the robot will stop. [STEP/MOVE] + [+/FORWD] key increases the jog speed. [STEP/MOVE] + [/BACKWD] key decreases the jog speed. The percentage display of the speed is different depending on each model.
+0.00 +0.00 +0.00
ADDN.AXIS L1: L2:
10%
ADDN.AXIS L1: L2:
40%
Note 1) When the additional axis 2 is not used, it is not displayed on the screen of the teaching pendant. Note 2) When the origin has been already set, the current position of the additional axis will be displayed in the "" place.
7.3.3 Set the origin

For details of the actual origin setting, etc., refer to the origin setting in "Instruction Manual/ ROBOT ARM SETUP & MAINTENANCE". Here, the correspondence between the origin setting additional axis and the axis No. displayed in the origin setting screen is as follows. Origin setting axis Additional axis 1 Additional axis 2 Origin setting screen display 7th axis 8th axis When setting the origin of the robot additional axis, don't carelessly set the origin of the robot arm. If it is wrongly set, input the origin data referring to the origin setting in " Instruction Manual/ ROBOT ARM SETUP & MAINTENANCE ".
CAUTION
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7.3.4 Create a program

As an example, a program to move the robot additional axis is created. MELFA_BASICIV 10 MOV P1 20 MOV P2 30 END MOVEMASTER command 10 MO 1 20 MO 2 30 ED For the methods of the program input and position data registration, refer to the programming in "Instruction Manual/ Detailed explanations of functions and operations". Moreover, for the registration method of the position variables of the robot additional axis, refer to "this manual/7.4.5Operation of position variable".
7.3.5 Execute a program

Try to execute a program created. From the teaching pendant, confirm the motion in the step feed mode (For the step feed method, refer to the step feed in "Instruction Manual/ Detailed explanations of functions and operations". If any problem does not occur, (1) Turn the mode switch of the teaching pendant to "DISABLE". (2) Turn the mode switch on the operation panel on the front of the controller to "Auto(OP.)". (3) Press [CHNG DISP] switch on the operation panel on the front of the controller to display the program No. (4) Press [UP] and [DOWN] switches on the operation panel on the front of the controller to select a program. (5) Press the [SVO ON] switch on the operation panel on the front of the controller to turning the servo ON, if the servo OFF. (6) Press [START] switch on the operation panel on the front of the controller to execute a program.
7.3.6 End the operation

Confirm that the program is interrupted or stopped, proceed with the following operation and turn OFF the power supply of the additional axis system. (1) Turn the mode switch of the teaching pendant to "DISABLE". (2) Turn the mode switch on the operation panel on the front of the controller to "Auto(OP.)". (3) Press [SRV OFF] key on the operation panel on the front of the controller to turn OFF the robot controller and the additional axis servo. (4) Turn OFF the power supply of the controller. (5) Turn OFF the power supply of the servo system. Though an alarm occurs on the servo system side during operation of (4) to (5), continue the operation and shut down the power supply of the servo system, and any problem will not occur.
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7.4 Operation of the Robot's Additional Axis

This section describes the procedures for operating the additional axis interface for each of the operating functions. If any vibration occurs or any motion is not satisfied during operation of the additional axis, it is necessary to adjust (tune) the servo system. Referring to "Instruction Manual for Servo Amplifier and Servomotor", adjust it.
CAUTION
7.4.1 Brake release

The brake of the robot additional axis can not be released from the robot controller. To release the brake, refer to "Instruction Manual for Servo System".
7.4.2 Origin setting

The origin of the robot additional axis is set with the same operation as that of the standard system. For details of the actual origin setting, etc., refer to the origin setting in "Instruction Manual/ ROBOT ARM SETUP & MAINTENANCE". In case of the robot additional axis, the correspondence between the additional axis of the origin setting and the axis number displayed on the origin setting screen is as follows. Origin setting axis Additional axis 1 Additional axis 2 Origin setting screen display 7th axis 8th axis When setting the origin of the robot additional axis, don't carelessly set the origin of the robot arm. If it is wrongly set, input the origin data referring to the origin setting in "Instruction Manual/ ROBOT ARM SETUP & MAINTENANCE".
CAUTION
7.4.3 Servo ON/OFF

[Function] The servo of the robot additional axis is turned ON/OFF. The servo of the additional axis is linked with the servo power supply of the robot arm. The operating method is the same as that of the standard system. For details of the actual servo ON method, refer to the Turning the servo ON/OFF of "Instruction Manual/ Detailed explanations of functions and operations".
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7.4.4 Jog operation

[Function] The robot additional axis is moved. The screen and content displayed for this operation are as follows. Here, the unit of the additional axis displayed is set with the parameter (AXUNT) (Angle: degree or Length: mm). For the parameter setting method, refer to "this manual/7.1Description of parameters". ADDN.AXIS 10% Display of current jog mode and jog speed L1 +100.00 Display (additional axis 1) of current position L2 +200.00 Display (additional axis 2) of current position
Note) An additional axis which is not present is displayed as +0.00(0) as described below. (Example: The additional axis 2 is not present.) [Method] The additional axis is moved by the jog operation of the teaching pendant. For details, refer to "this manual/7.3.2 Move the robot additional axis". [Explanation] (1) The moving speed can be switched by pressing [STEP/MOVE]+[+/FORWD] (jog speed UP) or [STEP/MOVE]+[/BACKWD] (jog speed DOWN). For details, refer to the jog feed in "Instruction Manual/ Detailed explanations of functions and operations". (2) If any motion range or speed limit may be exceeded, the robot will stop with an error. At this time, the "out of operation range" mark ( ) will be displayed for the limit-over axis on the screen (additional axis jog mode display) of the teaching pendant. In the opposite direction, move the axis for which the "out of operation range" mark is displayed. (3) Before the origin is set, "" is displayed at the current position data of the additional axis of the teaching pendant.
CAUTION
In another jog operation except the additional axis jog mode, the robot arm and mechanical additional axis move and the robot additional axis does not move.
7.4.5 Operation of position variable

The position variable (position No.) can be operated using the teaching pendant like the standard system. [Function] The current position is registered at the position variable (position No.). The current position of the additional axis is registered at the same time. [Method] Press [STEP/MOVE] + ([ADD ] [ADD ]) keys. For details, refer to "Instruction Manual/ Detailed explanations of functions and operations".
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7.4.6 MDI (Manual Data Input) compensation of robot additional axis

[Function] The registered position data is compensated by operating the key. The screen which displays the data of the additional axis is added. The screen and content displayed by this operation are as follows. MO. POS (P1 ) L1: +100.00 L2: +200.00
Position No. which registers the position
Coordinate value registered
Fig. 7.4.1 MO position screen [Method] A case to change the additional axis 1 of the position variable P3 from +20.00 to +50.00 is described as follows. Table 7.4.1 MDI compensation operation No. Teaching pendant screen display MO. POS ( ) X : Y : Z : MO. POS (P3 X : +100.000 Y : +200.000 Z : +300.000 MO. POS P3 L1 ( +20.000) L2 : +10.000 MO. POS P3 L1 ( +50.000) L2 : +10.000 MO. POS P3 L1 ( +50.000) L2 : +10.000 ) Work details Press [POS/CHAR] + [PQR] (X(J1)), [3](-Z(J3)) and [INP/EXE] keys. The position variable 3 is called up and the currently registered position data is displayed. Press [RPL ] key seven times. The cursor moves to the additional axis 1.
Press [HAND ] key 3 or 4 times to move the cursor to "2".
Press [5] (+C (J6)) key. 2 is rewritten to 5.
Press [INP/EXE] key. The additional axis 1 is compensated.
[Explanation] (1) The cursor can be moved with [ADD ], [RPL ], [DEL ] and [HAND ] keys. (2) If it is improperly input, press [POS CHAR] + [DEL ] to delete the character.
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7.4.7 Operation
The operation is started like the standard system. For details of the actual operation starting method, etc., refer to separate "Instruction Manual/ Detailed explanations of functions and operations". Regardless of the type of the interpolation command, the robot additional axis moves from the start point to the end point in the joint interpolation mode. The start and end of the operation of the robot additional axis is simultaneous with the start and end of the operation of the main unit (simultaneous interpolation). If any program execution is interrupted and the additional axis is moved with the jog or servo OFF, it will return to the interrupted position for motion when the program is restarted.
CAUTION
CAUTION
Robot Movement in the jog mode P2 Interruption It starts here. P1
Robot
P2
P1
It returns to the interrupted point and moves to P2.

Fig. 7.4.2 Motion when the interruption of the robot additional axis is restarted
7.4.8 Stop Stop

The program in running is stopped, and the robot arm and robot additional axis in moving is decelerated and stopped. In this stop mode, the servo is kept ON and the brake is not activated. The stop is operated like the standard system. For details of the actual stop method, refer to the stop in "Instruction Manual/ Detailed explanations of functions and operations".
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7.Setting, Operation and Command Explanation of Robot Additional Axis Emergency stop
The servo is turned OFF, the brake is activated and the robot arm and robot additional axis are immediately stopped. This is called the emergency stop. There are four methods for the emergency stop as follows. (1) (2) (3) (4) Press [EMG.STOP] on the operation panel on the front of the robot controller. Press [EMG.STOP] key of the teaching pendant. Emergency stop with the external emergency stop terminal on the rear of the robot controller. Emergency stop with the emergency stop circuit attached to the servo system.
Among them, Items (1), (2) and (3) are carried out like the standard system. For details of the actual emergency stop method, etc., refer to the connecting the external emergency stop in "Instruction Manual/ Controller setup, basic operation, and maintenance". For the using method and others of Item (4), refer to "Instruction Manual for Servo System" purchased.
7.4.9 Error resetting

The error resetting is carried out like the standard system. For details of the actual error resetting method, refer to the error reset operation in "Instruction Manual/ Detailed explanations of functions and operations".
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7.5 Explanation of commands

The applied commands are the same as those of the standard system. However, there are some added points about the describing method of the position variables.
7.5.1 Interpolation commands

During execution of the interpolation command, the robot additional axis moves in the speed pattern (acceleration/deceleration motion) like "Fig. 7.5.1 Moving speed of additional axis" from the start point to the end point in all other modes except the circular interpolation, and the start/end of the interpolation is simultaneous with those of the robot arm. (Simultaneous interpolation)
Speed
Time Fig. 7.5.1 Moving speed of additional axis As the motions of the additional axis are summarized regarding the interpolation commands, they become as shown in "Table 7.5.1 Robot additional axis motion during each interpolation (MELFA-BASICIV)" and "Table 7.5.2 Robot additional axis motion during each interpolation (MOVEMASTER command) ". Table 7.5.1 Robot additional axis motion during each interpolation (MELFA-BASCICIV)
Interpolation method Joint interpolation (MOV) Linear interpolation (MVS) Motion of robot additional axis Simultaneous interpolation by acceleration/deceleration motion from start point to end point Simultaneous interpolation by acceleration/deceleration motion from start point to end point
Position of P2 excluding the travel axis data
Circular interpolation (MVR, MVR2, MVR3)
Simultaneous interpolation by acceleration/ deceleration operation from start point to end point. At the transit point, center point and reference point except the start point and end point, the registered points of the robot additional axis are ignored. Moreover, the linear interpolation to the start point of the circular interpolation is simultaneously done with the acceleration/ deceleration motion. MVR, MVR2 and MVR3 are all processed under "Linear interpolation to P1 Circular interpolation from P1 to P3" and the additional axis data of P2 is ignored. (Refer to the right figure.) Moreover, refer to "this manual/7.5.2Synchronous control of robot additional axis (travel axis)" when it is desired to produce an accurate circle by simultaneously moving the robot arm and additional axis.
Position of P1
Position of P2
Position of P3 Transit point (P2')
Position of P1
Position of P3
Current position
Circle interpolation (MVC)
During circle interpolation, the additional axis does not move. However, the linear interpolation to the start point of the circle interpolation is simultaneous with the acceleration/deceleration motion. MVC are processed under "Linear interpolation to P1 Circle interpolation of the robot only without movement of the robot additional axis", and the additional axis data of P2 and P3 is ignored.
Position of P1 Position of P2
Position of P3 Position of P3 excluding the travel axis data
Current position
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Table 7.5.2 Robot additional axis motion during each interpolation (MOVEMASTER command)
Interpolation method Joint interpolation (MO) Motion of robot additional axis Simultaneous interpolation by acceleration/deceleration motion from start point to end point
Linear interpolation Simultaneous interpolation by acceleration/deceleration motion from start point to end point (MS) Simultaneous interpolation by acceleration/ deceleration motion from start point to end point. At the transit point, center point and reference point except the start point and end point, the registered points of the robot additional axis are ignored. Moreover, the linear interpolation to the start point of the circular interpolation is simultaneously done with the acceleration/ deceleration motion. MR and MRA are all processed under "Linear interpolation to the position 1 Circular interpolation from the position 1 to the position 3" and the additional axis data of position 2 is ignored. (Refer to the right figure.) Moreover, refer to "this manual/7.5.2Synchronous control of robot additional axis (travel axis)" when it is desired to produce an accurate circle by simultaneously moving the robot arm and additional axis.
Position 2 excluding the travel axis data Position 1 Position 2
Circular interpolation (MR, MRA)
Position 3
Position 3 excluding the travel axis data
Transit point (2')
Position 1
Position 3
Current position
DANGER
Between the interpolation motion of the robot arm and the interpolation motion of the robot additional axis, there is not any other relationship excluding that the start and end of each interpolation are at the same time. Accordingly, if it is used as the travel axis which moves with the robot loaded, the locus of the control point is not assured in any other operation except the circular interpolation (excluding the linear interpolation to the start point of the circular interpolation).
7.5.2 Synchronous control of robot additional axis (travel axis)

If any circular interpolation in which the additional axis position also varies is applied for the robot additional axis, the robot arm will draw an arc and the robot additional axis will be simultaneously accelerated/decelerated. Therefore, the tool tip will not draw any accurate circle but a locus, which is approximate to an ellipse. (Refer to "this manual/7.5.1Interpolation commands.) If any circular interpolation is applied with the additional axis moved, the synchronous control will be used. Since the robot additional axis and the robot arm move in synchronization with each other due to the synchronous control, the tool tip of the robot can draw an accurate arc. Moreover, the speed of the circular/linear interpolation including the travel axis can be also designated by SPD command (the MOVEMASTER command is the SD command). This function is applicable only to the linear drive axis, which moves with the robot loaded like the travel axis. The valid commands are as follows. (1) Various circular interpolations (However, the circle interpolation is excluded.) (2) Linear interpolation (3) Circular pallet However, this control can not be used on the 5-axis robots (RV-2AJ, RV-5AJ, etc.).
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The examples of the circular interpolation and circular pallet are described as follows. [Example] Circular interpolation In case of the circular interpolation, the additional axis and robot arm synchronously moves to draw an arc. The applicable commands are shown in "Table 3.5.3 Applicable commands". Table 7.5.3 Applicable commands Language method MELFA-BASICIV Applicable commands MVR, MVR2, MVR3, MVS (MVC is not applicable since the start point and end point are the same.)
MOVEMASTER command DS, MC, MS, MTS, MR, MRA
X + direction Travel axis + direction Y + direction
Robot (RV-20A)
Fig. 7.5.2 Example of circular interpolation If any circular interpolation is executed using MELFA-BASIC in the configuration (travel axis is 8th axis) as shown in "Fig. 3.5.2-1 Example of circular interpolation", 10 P1 = (200, 500, 400, 0, 0, 0, 0, 1000) (7, 0) 20 P2 = (200, 300, 800, 0, 0, 0, 0, 800) (7, 0) 30 P3 = (200, 100, 400, 0, 0, 0, 0, 600) (7, 0) 40 MVR P1, P2, P3 50 END Move in a semicircle with a radius of 400mm at the posture center of (200, 300, 400, 0, 0, 0, 0, 800). If any circular interpolation is executed using the MOVEMASTER command in the configuration (travel axis is 8th axis) as shown in "Fig. 3.5.2-1 Example of circular interpolation", 10 PD 1, 200, 500, 400, 0, 0, 0, 0, 1000, R, A, N, O 20 PD 2, 200, 300, 800, 0, 0, 0, 0, 800, R, A, N, O 30 PD 3, 200, 100, 400, 0, 0, 0, 0, 600, R, A, N, O 40 MR 1, 2, 3 50 END Move in a semicircle with a radius of 400mm at the posture center of (200, 300, 400, 0, 0, 0, 0, 800).
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[Example] Circular pallet When the circular pallet function (MELFA-BASIC only) is used, the position data on the calculated circular pallet becomes the data for which the position of the additional axis is taken into consideration as shown with the following example. DEF PLT 1, P1, P2, P3, , 7, 1, 3
PLT 1,1 = (200,500,400,0,0,0,0,1000) PLT 1,2 = (200,300+200sqrt(3)/2 ,600,0,0,0,0,800+200sqrt(3)/2) PLT 1, 2 PLT 1,3 = (200,400,400+400sqrt(3)/2 ,0,0,0,0,900) PLT 1,4 = (200,300,800,0,0,0,0,800)
PLT 1, 1 PLT 1, 3 PLT 1, 4
In order to make this function valid, it is necessary to set "Table 7.5.4 Parameter list of synchronous control". Table 7.5.4 Parameter list of synchronous control Parameter name Content Additional axis synchronous control axis Range of settable value 0, 7, 8 Default value Explanation Among the robot additional axes, the synchronous control axis is set. If any other axis except 7th and 8th axes is set, the function becomes invalid.
AXSYNC
AXDIR
Synchronous direction of additional axis
Real number
Conversion from the coordinate system in which the travel axis + direction is used as X axis to the robot coordinate. From the 1st 0.0, 0.0, 0.0 element, it is shown around X axis, Y axis and Z axis. As the default value, the robot X + direction matches the travel axis + direction.
[Example]
X + direction Travel axis + direction Y + direction
Robot (RV-20A)
Fig. 7.5.3 Robot X axis direction and travel axis + direction The parameter AXDIR is "0.0, 0.0, -90.0" in the case shown above.
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7.5.3 Position variables

(1) The position of the robot additional axis is designated as follows. [Example] In the MELFA-BASIC language method, a value including the position of the additional axis to the position variable P1 is substituted at the program line No. 10 as described below. 10 P1 = (100, 50, 300, 180, 0, 180, 500, 300) (7, 0)
Additional axis 1 (7th axis) Additional axis 2 (8th axis)
In the MOVEMASTER command language system, a value including the position of the additional axis to the position 1 is substituted at the program line No. 10 as described below. 10 PD, 1, 100, 50, 300, 180, 0, 180, 500, 300, R, A, N, O
Additional axis 1 (7th axis) Additional axis 2 (8th axis)
(2) The element data (MELFA-BASICIV only) of the robot additional axis is expressed with the value as shown below. Additional axis 1 (7th axis) .. L1 Additional axis 2 (8th axis) .. L2 [Example] At the program line No. 20, the value of the position of the additional axis 1 of the position variable P3 is changed as described below. 20 P3. L1 = 50 20 P3. L1 = RAD (50) (500mm if the additional axis 1 is a direct moving axis) (50deg if the additional axis 1 is a rotation axis) or
(3) The result of the calculation (MELFA-BASICIV only) related to the position variable of the additional axis is as follows.
Position variable + () Position variable The element data of the additional axis is also calculated as it is. Position variable Position variable Position variable Position variable Value variable () Position variable The element data of the additional axis is processed in the addition. The element data of the additional axis is processed in the subtraction. The element data of the additional axis is processed as it is.
(4) The element data of the additional axis of the grid point position of the pallet is calculated like the robot.
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7.6 Example of System Configuration of the Robot's Additional Axis

This section shows an example of system configuration using the additional axis interface.
7.6.1 Travel axis system System Overview The following shows an example when the travel axis is used as a robot's additional axis in a system where a standard robot is placed on the travel axis.
Robot arm Servomotor CR1/CR1B controller
Expansion option box Travel axis unit Servo amplifier Fig. 7.6.1 Travel axis system (an example) Table 7.6.1 Structural equipment Robot arm Robot controller Servo amplifier Servo motor Travel axis unit (In the box: Additional axis interface card
Vertical 6-axis robot

CR1-571/CR1B-571 controller Prepared by the customer. Prepared by the customer. Manufactured and prepared by customer
Table 7.6.2 Travel axis specification Control axis number of servo 1st Axis number of robot Unit of additional axis Rotation direction of additional axis Acceleration/deceleration of the additional axis Total speed ratio of additional axis Rated speed Maximum speed Encoder resolution Operating range Origin designated by user Additional axis1(7th axis mm (Direct moving axis) Forward run (CCW) 0.4 seconds per each 2/37 (Robot's additional axis displacement of 2/37 mm per motor rotation) 3000 (rpm) 4000 (rpm) 16384 (pulse/rev) -2000+3000 (mm) 0mm (same as the default value)
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Connecting devices
Devices are connected as follows. (1) Connect the additional axis interface card (CON1 connector) and the servo amplifier (CN1A connector) with a bus cable. (Refer to "5.1Connection of CR1/CR1B controller and servo amplifier.") (2) Set the axis selection switch (CS1) of the servo amplifier to "0." (Refer to "6.1Servo amplifier setting.") (3) Connect the servo amplifier and the servo motor. (Refer to "5.4Connection example of servo amplifier and servo motor.") Servo amplifier Additional axis interface card Terminator (MR-A-TM)
Bus cable (MR-J2HBUS1M)
Axis selection switch 0 Servo control axis No. 1st axis Fig. 7.6.2 Connection of controller and servo amplifier
CAUTION
Setting the servo amplifier parameters
Set the servo amplifier parameters by refer to "6.2Parameter setting of servo amplifier."
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Setting the robot controller parameters
Set the parameters related to the system configuration of the robot controller. For details on how to set these parameters, refer to separate "Instruction Manual/ Detailed explanations of functions and operations". Table 7.6.3 Setting the travel axis system parameters
Parameter name changed AXUNUM AXMENO AXJNO AXUNT AXSPOL Before/after change Before After Before After Before After Before After Before After Before AXACC After Before AXDEC After AXGRTN AXGRTD Before After Before After Before AXMREV After Before AXJMX After Before AXENCR After MEJAR (Mechanism No.1) USERORG (Mechanism No.1) Before After Before 0 0 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0
1, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0
Value of parameter
0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0
7, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0
0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0
1, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0
0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0 0.20, 0.20, 0.20, 0.20, 0.20, 0.20, 0.20, 0.20, 0.20, 0.20, 0.20, 0.20, 0.20, 0.20, 0.20, 0.20
0.40, 0.20, 0.20, 0.20, 0.20, 0.20, 0.20, 0.20, 0.20, 0.20, 0.20, 0.20, 0.20, 0.20, 0.20, 0.20
0.20, 0.20, 0.20, 0.20, 0.20, 0.20, 0.20, 0.20, 0.20, 0.20, 0.20, 0.20, 0.20, 0.20, 0.20, 0.20
0.40, 0.20, 0.20, 0.20, 0.20, 0.20, 0.20, 0.20, 0.20, 0.20, 0.20, 0.20, 0.20, 0.20, 0.20, 0.20
1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1
2, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1
10, 10, 10, 10, 10, 10, 10, 10, 10, 10, 10, 10, 10, 10, 10, 10
37, 10, 10, 10, 10, 10, 10, 10, 10, 10, 10, 10, 10, 10, 10, 10
2000, 2000, 2000, 2000, 2000, 2000, 2000, 2000, 2000, 2000, 2000, 2000, 2000, 2000, 2000, 2000
3000, 2000, 2000, 2000, 2000, 2000, 2000, 2000, 2000, 2000, 2000, 2000, 2000, 2000, 2000, 2000
3000, 3000, 3000, 3000, 3000, 3000, 3000, 3000, 3000, 3000, 3000, 3000, 3000, 3000, 3000, 3000
4000, 3000, 3000, 3000, 3000, 3000, 3000, 3000, 3000, 3000, 3000, 3000, 3000, 3000, 3000, 3000
8192, 8192, 8192, 8192, 8192, 8192, 8192, 8192, 8192, 8192, 8192, 8192, 8192, 8192, 8192, 8192
16384, 8192, 8192, 8192, 8192, 8192, 8192, 8192, 8192, 8192, 8192, 8192, 8192, 8192, 8192, 8192
-?, ?, -?, ?, -?, ?, -?, ?, -?, ?, -?, ?, -80000.00, 80000.00, -80000.00, 80000.00 -?, ?, -?, ?, -?, ?, -?, ?, -?, ?, -?, ?, -2000.00, 3000.00, -80000.00, 80000.00 (Use a value that has previously been registered for the part indicated by "?.") ?, ?, ?, ?, ?, ?, 0.0, 0.0 ?, ?, ?, ?, ?, ?, 0.0, 0.0
After
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Program example
(1) Details of work The operation of this system consists of a standard robot unloading a work from station A (position <1>) and transporting the work to station B (position <2>). In station B, the time required for teaching will be saved by using the pallet function. To use the pallet function, it is necessary to enable synchronous control of the robot's additional axis, however. (For details on synchronous control, refer to "7.5.2Synchronous control of robot additional axis (travel axis)."
Flow of work
(i) A work is transported to station A from the external location. (ii) When the work is transported, the robot unloads the work from station A, and palletizes the work onto the work placement table of station B. (iii) When the work placement table of station B becomes full, the works will be transported to the external location. (2) Robot Program Structure Prepare one robot program as shown below Program name 1 Explanation Operation program of standard robots
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(3) Input/Output signal The general I/O signals to be used are as follows General purpose input/output name General purpose input 11 L (0) General purpose input/output name General purpose output 11 L (0) (4) Position variable The position data is as follows Signal H/L H (1) Signal H/L H (1) Explanation Transport of works from the external location to station A has been complete. No work in station A
Explanation Works are full in station B (work table change request) Transporting a work to station B
Travel axis unit PSF
PBEDA
PBST
PA
PBEDB Station B Station A
Mechanism name
Position variable name PSF PA Safe position
Explanation Position where works are unloaded from station A Position where works are loaded to station B (Start position of pallet) Position where works are loaded to station B (End-A position of pallet) Position where works are loaded to station B (End-B position of pallet)
Robot arm
PBST PBEDA PBEDB
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(4) Procedure up to program execution Procedure 1 : Program creation <1>Program of mechanism number 1 (Program name:1) 10 DEF PLT 1,PBST,PBEDA,PBEDB,,4,3,2 ' 20 MOV PSF ' 30 HOPEN 1 ' 40 M1=1 ' 50 IF M_IN(11)=0 THEN GOTO 50 ' 60 M_OUT(11)=0 ' 70 *LOOP 80 MOV PA,-50 ' 90 MVS PA 100 HCLOSE 1 110 DLY 0.5 120 MVS PA,-50 130 PB=(PLT 1,M1) 140 MOV PB,-50 150 MVS PB 160 HOPEN 1 170 DLY 0.5 180 MVS PB,-50 190 M1=M1+1 200 IF M1<=12 THEN *LOOP 210 M_OUT(11)=1 220 END
Definition of palette number 1 Move to safe position Open the hand1 M1 is used for counter Waits for the transport of a work Transporting a work
Moves to the position of 50 mm back from work unloaded position ' Moves to the position where work is unloaded ' Close the hand1 ' Waits for 0.5 sec ' Moves to the position of 50 mm back from work unloaded position ' Calculates the position in the pallet number 1 indicated by M1 ' Moves to the position 50 mm back from the work placing position ' Moves to the work placing position ' Open the hand1 ' Waits for 0.5 sec ' Moves to the position 50 mm back from the work placing position ' Advances the counter ' Loops as many as the number of works ' Work full
Procedure 2 : Setting synchronous control of the robot's addition axis Set the parameters as shown below. For more details, refer to "7.5.2Synchronous control of robot additional axis (travel axis)." Parameter AXSYNC AXDIR Default value 0 0.0, 0.0, 0.0 Setting value 7 0.0, 0.0, -90.0
Procedure 3 : Reflecting the task slot parameters Turn off the power to enable the AXSYNC and AXDIR parameters, and then turn on the power again. Procedure 4 : Starting Run the program 1 by starting from the operation panel.
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8.User Mechanism Settings, Operation, and Commands
8. User Mechanism Settings, Operation, and Commands

When the additional axis is used as a multi-mechanism (controlled asynchronously with the robot arm), each axis of the mechanism is called a user mechanism. This section describes a series of operating procedures including parameter settings, activating and quitting the user mechanism, as well as the commands that have been added and changed.
8.1 Procedure for Setting the Parameters of the User Mechanism

To use the additional axis as a multi-mechanism (user mechanism), perform setup according to the procedures below (1) Set the parameters shown in "Table 8.2.1 Parameter List." However, MEJAR (Joint Movement Range) and USERORG (User-Designated Origin) are set in Procedure 4, so they are not set here. (2) Turn off the power once and then turn it on again. Check that error E7613 ("Turn the power off and on once") occurs. However, this error occurs only when the number of mechanisms is increased. (3) If error E7613 occurs, turn off the power once and then turn it on again. (4) On the parameter setting screen for the target mechanism, set MEJAR (Joint Movement Range) and USERORG (User-Designated Origin). (5) Set the servo system parameters from the servo amplifier's option, "Setup Software". Refer to 6.2Parameter setting of servo amplifier". For setup method and values of the servo system program, refer to the Servo Amplifier Instruction Manual.
8.2 Description of parameters

Before use, it is necessary to surely set the following parameters. The parameters set at the robot controller are shown in "Table 8.2.1 Parameter list". For the method to set the parameters, refer to "Instruction Manual/ Detailed explanations of functions and operations".
CAUTION
After changing the parameters, turn the power supply of the controller from OFF to ON. Unless this is done, the changed parameters will not become valid. If any motor, absolute position detector, etc., is replaced or any parameter related to the mechanism and the axis configuration is changed, be sure to confirm the current position. If the origin is dislocated, set the origin again. The parameters related to the axis configuration are the multi mechanism applied quantity (AXUNUM), mechanism No. designation (AXMENO), setting axis No. (AXJNT), unit system (AXUNT) and rotation direction (AXSPOL).
CAUTION
44
8.2.1 Parameter list

The parameters are listed in the following "Table 8.2.1 Parameter list". For details of the parameters, refer to "this manual/8.2.2Details of parameters". Table 8.2.1 Parameter list
Parameter name AXUNUM Content Number of multi mechanisms used Settable range Number of elements 1 Number of elements per axis Default value 0 Explanation The number of multi-mechanism to use. (The robot and the mechanism of mechanism number 1 are exclude.) Input the mechanism No. to the element which corresponds to the servo control axis No. used and be sure to set "0" for the axis not used. Designate what number of the axis of the robot arm is used for the additional axis. Unit system of additional axis 0 Angle (degree) 1 Length (mm) Set the rotation direction of the motor. 1 Forward run (CCW) 0 Reverse run (CW) Be sure to set "0" (CCW) at the "POL" parameter of the basic parameter No. 7 of the servo amplifier. Acceleration time (Unit: second) of additional axis Deceleration time (Unit: second) of additional axis Total speed ratio numerator of additional axis Total speed ratio denominator of additional axis Rated speed (Unit: r/min.) of motor Maximum speed (Unit: r/min.) of motor Encoder resolution of motor (Unit: pulse/rev) If it vibrates at JOG, set a larger value. (Unit: ms) Operating range. The minimum values and maximum values are described in this order. (Unit: degree or mm) Designate the origin position designated by the user. Set a value within the range set in MEJAR (joint operating range). (Unit: degree or mm) Position data of the area's first point: XYZ (Unit: degree or mm) Position data of the area's second point: XYZ (Unit: degree or mm) Target mechanism number Specify the behavior upon entering the area. Disable/signal output/error: 0/1/2 Define the number of the signal that outputs the status.
0 to 2
AXMENO
Mechanism No. designation
0 to 3
16
1 (per control axis of servo)
AXJNO
Setting axis No.
0 to 8
16
1 (Same as above) 1 (Same as above)
AXUNT
Unit system
0 or 1
16
AXSPOL
Rotation direction
0 or 1
16
1 (Same as above)
AXACC AXDEC AXGRTN AXGRTD AXMREV AXJMX AXENCR AXJOGTS
Acceleration time Deceleration time Total speed ratio numerator Total speed ratio denominator Rated speed Maximum speed
Positive real number Positive real number Positive integer Positive integer Positive integer Positive integer
16 16 16 16 16 16 16 16
Encoder Positive integer resolution JOG smoothening Positive real time constant number Joint operating range A real number of 80000.00 to 80000.00 A real number of 80000.00 to 80000.00 A real number of 80000.00 to 80000.00 A real number of 80000.00 to 80000.00 0 to 3 0 to 2 -1 to 255
1 (Same as above) 1 (Same as above) 1 (Same as above) 1 (Same as above) 1 (Same as above) 1 (Same as above) 1 (Same as above) 1 (Same as above) 2 (per axis of robot)
0.20 0.20 1 10 2000 3000 8192 150.00 80000.0, 80000.0
MEJAR
16
USERORG
User designated origin
2 (Same as above)
0.00
AREA*P1 (* is 1 to 8) AREA*P2 (* is 1 to 8) AREA*ME (* is 1 to 8) AREA*AT (* is 1 to 8) USRAREA User definition area
2 (Same as above) 2 (Same as above) -------
XYZ=0 ABC=-360 XYZ=0 ABC=360 0 0 -1,-1
8 1 1 2
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8.2.2 Details of parameters

Here, the parameters are described in details. (1) AXUNUM (number of multi mechanisms used) (2) AXMENO (mechanism No. designation) (3) AXJNO (Setting axis No.) (4) AXUNT (unit system) (5) AXSPOL (motor rotation direction) (6) AXACC (acceleration time) AXDEC (deceleration time) (7) AXGRTN (total speed ratio numerator) AXGRTD (total speed ratio denominator) (8) AXMREV (rated rotation speed) AXJMX (maximum rotation speed) AXENCR (encoder resolution) (9) AXJOGTS (JOG smoothening time constant) (10) MEJAR (joint operating range) (11) USERORG (user designated origin) (12) About the User Definition Area Moreover, the parameter elements of (2) to (9) correspond to the control axis Nos. of the servo as shown in "Fig. 8.2.1 Control axis No. and parameter element of servo". If any personal computer support software (which enables the program editing, parameter setting, various monitors and so on of the robot) is used, (10) and (11) are the mechanical parameters and the others are arranged in the common parameters.
Not used. Parameter of element number 16:
(0, 0,
0,
0,
0, 0, 0, 0,
0, 0, 0, 0, 0, 0, 0, 0)
Servo control axis No. : 1st axis Servo control axis No. : 2nd axis Servo control axis No. : 3rd axis Servo control axis No. : 4th axis Servo control axis No. : 5th axis Servo control axis No. : 6th axis Servo control axis No. : 7th axis Servo control axis No. : 8th axis
Servo amplifier Additional axis interface card
Servo amplifier
Servo amplifier

Servo control axis No. 1st axis

Servo control axis No. 2nd axis

Servo control axis No. 8th axis
Fig. 8.2.1 Control No. and parameter element of servo
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(1) AXUNUM (number of multi mechanisms used) This parameter designates how many mechanisms are connected when the additional axis is used as the multi mechanism. Max. 2 mechanisms can be connected. When one multi mechanism is connected, the mechanism No. of the connected mechanism automatically become 2. When two mechanisms are connected, the mechanism Nos. become 2 and 3. Moreover, when a mechanism is once set but is deleted, change AXUNUM and set "0" to the AXMENO which corresponds to the mechanism No. deleted. Any additional axis is not used. One additional axis is used as the multi mechanism. Two additional axes are used as the multi mechanisms. (2) AXMENO (mechanism No. designation) This parameter sets which mechanism the servomotor connected to the servo amplifier is connected to regarding each axis. Not used. Used as 1st mechanism axis. Used as 2nd mechanism axis. Used as 3nd mechanism axis. [Example] When the servomotor set "Control axis No. of servo" as the 1st axis is used as the multi mechanism (number of mechanisms: 1 unit and number of mechanism axes: 1 axis), set the parameter AXMENO as follows. AXMENO = 2, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0 (Set "2" to the 1st element.) (3) AXJNO (Setting axis No.) Regarding each axis, this parameter sets what number axis of the robot or mechanism the servomotor is used as. To change an axis No. which has been set once (example: 1st axis 2nd axis), first set "0" at AXMENO and turn the power supply of the controller from OFF to ON. The default value is "0". 1st axis of mechanism 2nd axis of mechanism 3rd axis of mechanism [Example] When the servomotor set "Control axis No. of servo" as the 1st axis is used as the 1st axis of the mechanism, AXJNO = 1, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0 (Set "1" to the 1st element.) 1 2 3 0 1 2 3 0 1 2
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(4) AXUNT (unit system) Regarding each axis, this parameter sets the unit system of the servomotor, which can be used. Used as the linear drive axis (Unit: mm) Used as the rotation axis. (Unit: degree) (Default value) [Example] When the servomotor set "Control axis No. of servo" as the 1st axis is used as the linear drive axis (Unit: mm), AXJNO = 1, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0 (Set "1" to the 1st element.) (5) AXSPOL (motor rotation direction) Regarding each axis, this parameter sets in which direction the servomotor is rotated when the joint position data is increased. The rotation direction is illustrated in the parameter details of "Instruction Manual for Servo Amplifier". Moreover, set the rotation direction with the robot controller. Forward run (CCW) (default value) as the value of the joint coordinate is increased Reverse run (CW) as the value of the joint coordinate is increased 0 1 1 0
Here, be sure to set "POL" parameter of the basic parameter No. 7 of the servo amplifier to "0" (CCW). [Example] When the rotation direction of the servomotor set "Control axis No. of servo" as the 1st axis is reversed as the joint position data is increased, AXSPOL = 1, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0 (Set "1" to the 1st element.) (6) AXACC (acceleration time) AXDEC (deceleration time) Regarding each axis, these parameters set the acceleration/deceleration time from the stop state to the maximum speed when the override of the servomotor which can be used is 100%. The default value is 0.20 (seconds). [Example] When the acceleration/deceleration time of the servomotor set "Control axis No. of servo" as the 1st axis is set as follows, Acceleration time Deceleration time 0.40 (seconds) 0.40 (seconds)
AXACC = 0.40, 0.20, 0.20, 0.20, 0.20, 0.20, 0.20, 0.20, 0.20, 0.20, 0.20, 0.20, 0.20, 0.20, 0.20, 0.20 (Set "0.40" to the 1st element.) AXDEC = 0.40, 0.20, 0.20, 0.20, 0.20, 0.20, 0.20, 0.20, 0.20, 0.20, 0.20, 0.20, 0.20, 0.20, 0.20, 0.20 (Set "0.40" to the 1st element.)
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(7) AXGRTN (total speed ratio numerator) AXGRTD (total speed ratio denominator) These parameters set the numerator and denominator of the total speed ratio of the servomotor which can be used. As the total speed ratio, set a reduced fraction of the integers of the numerator and denominator (1/18.5 2/37). The default value of AXGRTN is "1", and the default value of AXGRTD is "10". [Example] When the total speed ratio of the servomotor axis set "Control axis No. of servo" as 1st axis is 25/8(mm/rev), AXGRTN = 25, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1 (Set "25" to the 1st element.) AXGRTD = 8, 10, 10, 10, 10, 10, 10, 10, 10, 10, 10, 10, 10, 10, 10, 10 (Set "8" to the 1st element.) The total speed ratio of the direct moving axis is calculated as follows. From the relationship of the gear ratio and ball screw lead of "Fig. 8.2.2 Inside of direct moving unit", the movement amount of the load per rotation of the motor is as follows. 5 5/8 = 25/8 [mm/rev] Accordingly, since the motor speed when the load is moved 1mm becomes 8/25 rotation, the total speed ratio becomes as follows. AXGRTN/AXGRTD = 1/ (8/25) = 25/8
Gear b Load
Servo motor
Ball screw Gear a
Gear ratio: 5/8 Ball screw lead: 5mm/rev
Fig. 8.2.2 Inside of direct moving unit The total speed ratio of the rotation axis is calculated as follows. When the table of "Fig. 8.2.3 Inside of rotation table" rotated one rotation (360 degrees), the motor speed becomes 10 rotations. Therefore, the total speed ratio becomes as follows. AXGRTN/AXGRTD = 1/10
Rotation table
Gear b Gear a
Gear ratio: 1/10
Servomotor
Fig. 8.2.3 Inside of rotation table
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(8) AXMREV (rated rotation speed) AXJMX (maximum rotation speed) AXENCR (encoder resolution) These parameters set the properties of the servomotor, which can be used. Referring to the specifications in "Instruction Manual for Servo Amplifier", set the values which are suitable for the applied servomotor. The default value of AXMREV is 2000(r/min.), the default value of AXJMX is 3000(r/min.) and the default value of AXENCR is 8192 (pulse/rev). [Example] When the properties of the servomotor set "Control axis No. of servo" as the 1st axis are as follows. Rated speed Maximum speed Encoder resolution 3000 (r/min) 4000 (r/min) 16384 (pulse/rev)
AXMREV = 3000, 2000, 2000, 2000, 2000, 2000, 2000, 2000, 2000, 2000, 2000, 2000, 2000, 2000, 2000, 2000 (Set "3000" to the 1st element.) AXJMX = 4000, 3000, 3000, 3000, 3000, 3000, 3000, 3000, 3000, 3000, 3000, 3000, 3000, 3000, 3000, 3000 (Set "4000" to the 1st element.) AXENCR = 16384, 8192, 8192, 8192, 8192, 8192, 8192, 8192, 8192, 8192, 8192, 8192, 8192, 8192, 8192, 8192 (Set "16384" to the 1st element.) When MELSERVO-J2-Super series is used as a servo amplifier, it is necessary to set the encoder resolution in the basic parameter No. 6, "FBP," of the servo amplifier. (9) AXJOGTS (JOG smoothening time constant) Set this parameter to reduce the vibration if it occurs during jog of the additional axis. If any excessive value is set, the acceleration/deceleration time becomes long during jog operation. The settable value is in the range of positive real numbers. The default value is 150.00 (ms). [Example] When this parameter value is set to "200.00" against vibration of the axis set "Control axis No. of servo" as the 1st axis, AXJOGTS = 200.00, 150.00, 150.00, 150.00, 150.00, 150.00, 150.00, 150.00, 150.00, 150.00, 150.00, 150.00, 150.00, 150.00, 150.00, 150.00 (Set "200.00" to the 1st element.) (10) MEJAR (joint operating range) For this parameter, set the motion range of the additional axis in order of minimum value and maximum value. To set the additional axis of multi-mechanisms, change all parameters excluding the user designated origin (USERORG) parameters, and then turn the power from off to on. Next, select a user mechanism to be used, and then set this parameter. The settable values are real numbers in the range of -80000.00 to 80000.00. The default values are -80000.00, 80000.00. [Example] When it is used as the multi mechanism (number of mechanism axes: 1 axis), set the motion range as follows. Minimum value Maximum value 2000mm 3000mm
MEJAR = 2000.00, 3000.00, 0.00, 0.00, 0.00, 0.00, 0.00, 0.00, 0.00, 0.00, 0.00, 0.00, 0.00, 0.00 0.00, 0.00 (Set 2000.00 at the 1st element and 3000.00 at the 2nd element.)
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(11) USERORG (user designated origin) This parameter sets the origin position set when the user designated origin is set. The origin of the additional axis set here is also reflected on the other origin setting method (mechanical stopper, jig and ABS system). To set the additional axis of multi-mechanisms, change all parameters excluding the joint operating range (MEJAR) parameter, and then turn the power from off to on. Next, select a user mechanism to be used, and then set this parameters. The settable value is in the range of -80000.00 to 8000.00, being a real number in the range set at MEJAR (joint operating range). [Example] When it is used as the multi mechanism (number of mechanism axes: 1 axis), set the user designated origin as follows. Origin position designated by the user 1500mm USERORG = 1500.00, 0.00, 0.00, 0.00, 0.00, 0.00, 0.00, 0.00 (Set "1500.00" to the 1st element.) The MEJAR (joint operating range) and USERORG (user designated origin) parameters must be set for each user mechanism selected. When setting the values for the additional axis to be used as multi-mechanisms, exercise caution so as not to change the robot axes by mistake.
CAUTION
51

(12) About the User Definition Area When working together with peripheral devices, the range of work may be shared. It is necessary to notify others that one is in the shared area. In such a case, a signal can be output by setting the applicable parameter while the user mechanism is within an arbitrary range. An example using the following user mechanism (mechanism number 2) will be explained.
Vertical moving axis 1 Servo motor 4 Servo amplifier 4
1st axis
Vertical moving axis 2 Servo motor 5 Servo amplifier 5
2nd axis
3rd axis Rotation axis Servo motor 6 Servo amplifier 6
To output the output number 10 when the first axis is working in the range 1, the output number 11 when the second axis is working in the range 2, and the output number 12 when the third axis is working in the range 3, set the parameters as follows.
Xs (mm)
Xe (mm)
Range 1 -2000 (mm)

Operating range
3000 (mm)
Xs: Starting point of range 1 Xe: End point of range 1 Ys: Starting point of range 2 Ye: End point of range 2 Zs: Starting point of range 3 Ze: End point of range 3
Ys (mm)
Ye (mm)
Range 2 -2000 (mm)

Operating range
3000 (mm)
Zs (degree)
Range 3 0 degree
Ze (degree)
-160 (degree)
-160 (degree)
52

Parameter name AREA1P1 AREA1P2 AREA1ME AREA1AT Meaning of the value Position data for the first point: X,Y,Z Unit: degree or mm Position data for the second point: X,Y,Z Unit: degree or mm Target mechanism number. In this case the value is 2. Specify the behavior upon entering the area. Invalid /signal output/error: 0/1/2 Invalid : This function will be invalid. Signal output : The dedicated output signal USRAREA will turn ON. Error: An error is generated when entering the area. AREA2P1 AREA2P2 AREA2ME AREA2AT Position data for the first point: X,Y,Z Unit: degree or mm Position data for the second point: X,Y,Z Unit: degree or mm Target mechanism number. In this case the value is 2. Specify the behavior upon entering the area. Invalid /signal output/error: 0/1/2 Invalid : This function will be invalid. Signal output : The dedicated output signal USRAREA will turn ON. Error: An error is generated when entering the area. AREA3P1 AREA3P2 AREA3ME AREA3AT Position data for the first point: X,Y,Z Unit: degree or mm Position data for the second point: X,Y,Z Unit: degree or mm Target mechanism number. In this case the value is 2. Specify the behavior upon entering the area. Invalid /signal output/error: 0/1/2 Invalid : This function will be invalid. Signal output : The dedicated output signal USRAREA will turn ON. Error: An error is generated when entering the area. USRAREA Define the number of the signal that outputs the 10,12 status. (Information on whether it is within AREA1* is output to the signal 10, Output signal: starting number, end number information on whether it is within AREA2* is output to the signal 11, and information on whether it is within AREA3* is output to the signal 12.) -10000, -10000, Zs,-360,-360, -360,0,0 10000,10000,Ze,360,360,360,0,0 2 1 -10000,Ys,-360,-360,-360,-360,0,0 10000,Ye,360,360,360,360,0,0 2 1 Value Xs,-10000,-360,-360,-360,-360,0,0 Xe,10000,360,360,360,360,0,0 2 1
*1 Enter the coordinates of each axis in each of Xs, Xe, Ys, Ye, Zs and Ze. *2 Set a value exceeding the movement range for the axis to be disabled, so that it will be always working within the area.
53
8.3 Confirmation of connection

Before use, confirm the following items again. Confirmation of connection No. 1 2 3 4 5 6 7 8 9 10 11 12 13 14 15 16 Confirmation item Is the teaching pendant securely fixed? Is the exclusive communication cable properly connected between the controller and servo amplifier? (Refer to "Instruction Manual for Servo Amplifier".) Is the terminator properly connected to the servo amplifier? (Refer to "Instruction Manual for Servo Amplifier".) Is the detector cable properly connected between the servo amplifier and motor? (Refer to "Instruction Manual for Servo Amplifier".) Is the servomotor power cable properly connected between the servo amplifier and motor? (Refer to "Instruction Manual for Servo Amplifier".) Is the ground wire properly connected between the servo amplifier and motor? (Refer to "Instruction Manual for Servo Amplifier".) Is the ground cable from the servo amplifier properly grounded? (Refer to "Instruction Manual for Servo Amplifier".) Is the brake unit properly connected? (Refer to "Instruction Manual for Servo Amplifier".) (When it is used,) Is the emergency stop circuit properly connected? (Refer to "Instruction Manual for Servo Amplifier".) (When it is used,) Are the parameters of the additional axis interface properly set? (Refer to "this manual/8.2Description of parameters".) Are the parameters of the servo amplifier properly set? (Refer to "Instruction Manual for Servo Amplifier".) Is the basic parameter No. 1 AMS of the servo amplifier set to "0001"? (Refer to "Instruction Manual for Servo Amplifier".) Is the basic parameter No. 7 POL of the servo amplifier set to "0"? (Refer to "Instruction Manual for Servo Amplifier".) If the "MELSERVO-J2-Super series" servo amplifier is in use, has a value that corresponds to the motor been set in the basic parameter No. 6 FBP? For details, refer to the Servo Amplifier Instruction Manual. Is the power supply of the controller turned OFF once after the parameters are set? Is the axis selection switch (CS1) of the servo amplifier properly set? Check
After the preparation is completed, turn OFF the power supply of the additional axis system.
54
8.4 Try to use the mechanical additional axis.

This chapter describes the basic operation from the power turn-ON through operation to end using the user mechanism. Turn ON the power supply.
.. Refer to "this manual/8.4.1Turn ON the power supply" .. Refer to "this manual/8.4.2Move the user mechanism. " .. Refer to "this manual/8.4.3Setting the Origin" .. Refer to "this manual/8.4.4Create a program" .. Refer to "this manual/8.4.5Execute a program" .. Refer to "this manual/8.4.6End the operation"
Move the user mechanism.
Set the origin.
Create the program.
Execute the program.
End
CAUTION
If any vibration occurs or any operation is not satisfied during operation of the additional axis, it is necessary to adjust (tune) the servo system. Referring to "Instruction Manual for Servo Amplifier and Servomotor", adjust it. If any motor, absolute position detector, etc., is replaced or any parameter related to the mechanism or axis configuration is changed, be sure to confirm the current position before moving. If any origin position deviation, etc., is found, set the origin again. The above parameters are the multi mechanism applied quantity (AXUNUM), mechanism No. designation (AXMENO), setting axis No. (AXJNO), unit system (AXUNT) and rotation direction (AXSPOL).
CAUTION
8.4.1 Turn ON the power supply

Confirm the safety around the robot and additional axis and turn ON the power supply. (1) Turn ON the power supply of the servo system. (2) Turn ON the power supply of the controller. Turn ON the power supply of the peripheral device earlier than the robot controller. If the power supply of the robot controller is turned ON earlier than the peripheral device, the robot controller may sometimes not recognize the peripheral device.
CAUTION
55
8.4.2 Move the user mechanism.

Move the axis by jog the additional axis of the teaching pendant. The following describe such a case as the mechanical additional axis of the 3-axis XYZ coordinate mechanism (mechanism No. 2) is operated. (1) On the operation panel on the front of the controller, set the mode switch to "Teach". (2) Turn the "ENABLE/DISABLE" switch of the teaching pendant to "ENABLE". (3) Then, proceed with "this manual/Table 8.4.1 User mechanism, jog operation, jog operation". Table 8.4.1 User mechanism, jog operation No. 1 2 MECH SELECT 1. RV-20A 2. USER 3. USER <MENU> 1. TEACH 3. FILE 5. MAINT. JOINT J1: J2: J3: Teaching pendant screen display Work details Press [MENU] key to display screen 2. Press [2] key to select USER of the mechanism No. 2.
Pressing the dead man switch on the rear of the teaching pendant, press [STEP/MOVE] key and turn ON the servo. 2. RUN Keeping the dead man switch pressed, proceed with the 4. MONI. following operation. If the dead man switch is released on the way, the servo will be turned OFF. In this case, repeat this 6. SET process. 10% Pressing [STEP/MOVE] key, press [JOINT] key, the jog mode varies in this sequence.
JOINT J1: J2: J3:
10%

[STEP/MOVE] + [+X (J1)] key: The axis 1 moves in the + direction. [STEP/MOVE] + [X (J1)] key: The axis 1 moves in the direction. [STEP/MOVE] + [+Y (J2)] key: The axis 2 moves in the + direction. [STEP/MOVE] + [Y (J2)] key: The axis 2 moves in the direction. [STEP/MOVE] + [+Z (J3)] key: The axis 3 moves in the + direction. [STEP/MOVE] + [Z (J3)] key: The axis 3 moves in the direction. Release the axis designation key, and the robot will stop. [STEP/MOVE] + [+/FORWD] key increases the jog speed. [STEP/MOVE] + [/BACKWD] key decreases the jog speed. The percentage display of the speed is different depending on each model.
JOINT J1: J2: J3:
40%

Note 1) A mechanism which is not used is not displayed on the teaching pendant screen. Note 2) An axis which is not used is not displayed on the teaching pendant screen. Note 3) When the origin has been already set, the current position of the additional axis will be displayed in the "" place.
56
8.User Mechanism Settings, Operation, and Commands 8.4.3 Setting the Origin
Set the origin via the origin operation of the teaching pendant. The following explains how to set the origin of the three-axis user mechanism (mechanism number 2). (1) Set the [MODE] switch on the operation panel on the front of the controller to [TEACH]. (2) Set the [ENABLE/DISABLE] switch of the teaching pendant to [ENABLE]. (3) Determine the user origin position. Move the mechanism to the desired origin position by jog operation. (4) Mark the position used in (3) above, such as with a label or mark, so that it can be used for the alignment of all axes by jog operation later when it may be necessary to perform origin setting again. (5) Enter the origin position in the USERORG (User-Designated Origin) parameter, and turn off the power to the controller and then turn it on. For details on parameter settings, refer to 8.2Description of parameters." (6) Then, operate as shown below Table 8.4.2 User origin setting operation No. 1 2 <MECH SELECT> 1.RV-2A 2.USER 3.USER <MENU> 1.TEACH 2.RUN 3.FILE 4.MONI 5.MAINT 6.SET <MAINT> 1.PARAM 2.INIT 3.BRAKE 4.ORIGIN 5.POWER <ORIGIN> 1.DATA 2.MECH 2.TOOL 4.ABS 5.USER <USER> 6 SERVO OFF OK ? ( ) 1:EXECUTE <JIG> 7 BRAKE 12345678 (00000000) Press the [] key, enter "1" in the axis to set the origin with axis specification, and press the [INP] key. Before pressing the [INP] key, position the cursor on the axis specification line. Enter [1] and press the [INP] key to perform origin setting. Enter [-B/(J5)] and press the [INP] key to turn OFF the servo. Teaching pendant screen display Work details Press [MENU] key to display screen 2. Press [A/(J4)] key to select USER of the mechanism No. 2.
Press the [-C/(J6)] key to select "5. MAINT".
Press the [-Y/(J2)] key to select "4. ORIGIN".
Press the [+C/(J6)] key to select "5. USER".
SET AXIS (00000000) ORIGIN: NOT DEF <JIG> 12345678 CHANGES TO ORIGIN OK? ( ) 1:EXECUTE <JIG> 12345678 (00000000)
This completes the setting of the origin with the user origin method.
BRAKE
SET AXIS (00000000) ORIGIN:COMPLETED
57
8.4.4 Create a program

As an example, a program to operate the robot additional axis is created. For the methods of the program input and position data registration, refer to the programming in "Instruction Manual/ Detailed explanations of functions and operations". For the mechanical additional axis, it is necessary to designate the mechanism No. (GETM command). The following shows such a case as the mechanism No. 2 is designated. 10 GETM 2 20 MOV P1 30 DLY 1.0 40 MOV P2 50 DLY 1.0 60 END
CAUTION
Don't use the joint variable for the designation of the position. Use the position variable.
8.4.5 Execute a program

Try to execute a program created. From the teaching pendant, confirm the operation in the step feed mode (For the step feed method, refer to the step feed in "Instruction Manual/ Detailed explanations of functions and operations". If any problem does not occur, (1) Turn the mode switch of the teaching pendant to "DISABLE". (2) Turn the mode switch on the operation panel on the front side of the controller to "Auto(OP.)". (3) Press [CHNG DISP] switch on the operation panel on the front of the controller to display the program No. (4) Press [UP] and [DOWN] switches on the operation panel on the front of the controller to select a program. (5) Press the [SVO ON] switch on the operation panel on the front of the controller to turning the servo ON, if the servo OFF. (6) Press [START] switch on the operation panel on the front of the controller to execute a program.
8.4.6 End the operation

Confirm that the program is interrupted or stopped, proceed with the following operation and turn OFF the power supply of the additional axis system. (1) Turn the mode switch of the teaching pendant to "DISABLE". (2) Turn the mode switch on the operation panel on the front of the controller to "Auto(OP.)". (3) Press [SRV OFF] key on the operation panel on the front of the controller to turn OFF the robot controller and the additional axis servo. (4) Turn OFF the power supply of the controller. (5) Turn OFF the power supply of the servo system. Though an alarm occurs on the servo system side during operation of (4) to (5), continue the operation and shut down the power supply of the servo system, and any problem will not occur.
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8.5 Operation of the User Mechanism

This section describes the procedures for operating the additional axis interface for each of the operating functions. When the additional axis is operated first time after assembling a system, perform origin setting. If any vibration occurs or any operation is not satisfied during operation of the additional axis, it is necessary to adjust (tune) the servo system. Referring to "Instruction Manual for Servo Amplifier and Servomotor", adjust it.
CAUTION
8.5.1 Brake release

The brake of the robot additional axis can not be released from the robot controller. To release the brake, refer to "Instruction Manual for Servo System".
8.5.2 Origin setting

[Function]
Perform origin setting of the user mechanism. [Method]
The origin setting of the mechanical additional axis is the same as the origin is set in the standard system. As for the origin setting method, however, use the user origin setting method. For more details, refer to "8.4.3Setting the Origin."
8.5.3 Servo ON/OFF

[Function] Turn ON and OFF the servo of the user mechanism. The servo of the user mechanism is linked with the servo power supply of the robot arm. The operating method is the same as that of the standard system. For details of the actual servo ON method, refer to the Turning the servo ON/OFF of "Instruction Manual/ Detailed explanations of functions and operations".
8.5.4 Jog operation

[Function] Move the user mechanism. The screen and content displayed for this operation are as follows. Here, the unit of the additional axis displayed is set with the parameter (AXUNT) (Angle: degree or Length: mm). For the parameter setting method, refer to "this manual/8.2Description of parameters". [Method] The additional axis is operated by the jog operation of the teaching pendant. For details, refer to "this manual/8.4.2Move the user mechanism. ".
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[Explanation] (1) The operating speed can be switched by pressing [STEP/MOVE]+[+/FORWD] (jog speed UP) or [STEP/MOVE]+[/BACKWD] (jog speed DOWN). For details, refer to the jog feed in "Instruction Manual/ Detailed explanations of functions and operations". (2) If any operation range or speed limit may be exceeded, the robot will stop with an error. At this time, the "out of operation range" mark ( ) will be displayed for the limit-over axis on the screen (additional axis jog mode display) of the teaching pendant. In the opposite direction, move the axis for which the "out of operation range" mark is displayed. (3) Before the origin is set, "" is displayed at the current position data of the additional axis of the teaching pendant. (4) In case of the user mechanism, it becomes the same operation regardless of the jog mode (joint, XYZ, tool, cylinder, 3-axis XYZ).
8.5.5 Operation of position variable

The position variable (position No.) can be operated using the teaching pendant like the standard system. [Function] The current position is registered at the position variable (position No.). [Method] Press [STEP/MOVE] + ([ADD ] [ADD ]) keys. For details, refer to "Instruction Manual/ Detailed explanations of functions and operations".
8.5.6 Operation
The operation is started like the standard system. For details of the actual operation starting method, etc., refer to separate "Instruction Manual/ Detailed explanations of functions and operations". If any program execution is interrupted and the additional axis is moved with the jog or servo OFF, it will return to the interrupted position for motion when the program is restarted.
CAUTION
8.5.7 Stop Stop

The program in running is stopped, and the robot arm and robot additional axis in moving is decelerated and stopped. In this stopping mode, the servo is kept ON and the brake is not activated. The stop is operated like the standard system. For details of the actual stop method, refer to the stop in "Instruction Manual/ Detailed explanations of functions and operations".
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Emergency stop
The servo is turned OFF, the brake is activated and the robot arm and robot additional axis are immediately stopped. This is called the emergency stop. There are four methods for the emergency stop as follows. (1) (2) (3) (4) Press [EMG.STOP] on the operation panel on the front side of the robot controller. Press [EMG.STOP] key of the teaching pendant. Emergency stop with the external emergency stop terminal on the rear of the robot controller Emergency stop with the emergency stop circuit attached to the servo system
Among them, Items (1), (2) and (3) are carried out like the standard system. For details of the actual emergency stop method, etc., refer to the connecting the external emergency stop in "Instruction Manual/ Controller setup, basic operation, and maintenance". For the using method and others of Item (4), refer to "Instruction Manual for Servo System" purchased.
CAUTION
Since "Emergency Stop" immediately stops the system, the mechanisms and works may vibrate. Instead, if the situation allows, use "Stop" that employs deceleration stop.
8.5.8 Error resetting

The error resetting is carried out like the standard system. For details of the actual error resetting method, refer to the error reset operation in "Instruction Manual/ Detailed explanations of functions and operations".
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8.6 Explanation of commands

The language specifications added and changed are herein described to install the additional axis interface. The applied commands are the same as those of the standard system. However, there are some added points about the describing method of the position variables.
CAUTION CAUTION
The program method of the user mechanism is MELFA-BASICIV only. The MOVEMASTER command can not be used. There are some instructions which can't be used shown in "A", be careful.
8.6.1 Position variables
CAUTION
Do not use joint variables to specify the position. Use position variables (including status variables).
(1) The following is described to designate the position of the mechanical additional axis. [Example] 10 P1=(100, 0, 0, 0, 0, 0)(0, 0) If the mechanical additional axis is a configuration of 1 axis, the following is described to substitute the value into the position variable P1 at the program line No. 10. 10 P1 = (100, ) (0, 0) "," is necessary after 100. If the mechanical additional axis is a configuration of 2 axes, the following is described to substitute the value into the position variable P1 at the program line No. 10. 10 P1 = (100, 200) (0, 0)
1st axis (J1) 2nd axis (J2)
"," can be omitted after 200. (2) Describe as shown below when specifying the element data of each axis. 1 axis X, 2 axis Y, 3 axis Z, 4 axis A, 5 axis B, 6 axis C [Example] To change to 50 the Z (J3 axis) value of position variable P3 with program line number 20, describe as shown below 20 P3.X=50 To specify element data, describe both the rotary axis and linear drive axis as shown above. (3) The result of the calculation related to the position variable of the additional axis is as follows. Position variable + () Position variable Position variable Position variable Position variable Position variable Value variable () Position variable The element data of the additional axis is also calculated as it is. The element data of the additional axis is processed in the addition. The element data of the additional axis is processed in the subtraction. The element data of the additional axis is processed as it is.
(4) The element data of the additional axis of the grid point position of the pallet is calculated like the robot.
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8.User Mechanism Settings, Operation, and Commands 8.6.2 Commands

The user mechanism offers instructions, built-in functions and status variables of which operation cannot be guaranteed, as listed below. In addition, joint variables cannot be used to specify the position. Instead, use the position variable (including status variables).

TORQ command Optimum acceleration/deceleration related (OADL/LOADSET) High accuracy mode related (PREC) Compliance related (CMP/CMPG/M_CMPDST) Structure flag, multi-rotation information related (RDFL1/RDFL2/SETFL1/SETFL2) ALIGN unction Note) FINE command SPD command MVS command Circular interpolation instruction related (MVR/MVR2/MVR3/MVC) DISTunction, ZONE2 unction M_RDST (remaining distance), M_RATIO (arrival ratio), M_SPD/M_NSPD/M_RSPD (XYZ speed related) status variables FRAM unction Joint variables (including status variables of joint variable type) Note) The FINE instruction can set whether the function is enabled/disabled, but cannot set the number of pulses. If you are using the FINE instruction, set the number of pulses using the servo amplifier's INP parameter. For more details, refer to separate "Instruction Manual/ Detailed explanations of functions and operations" and the Servo Amplifier Instruction Manual.
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The following shows a list of status variables, built-in functions and instruction languages that can be used without any problems (1) Robot status variables that operate without any problem in the user mechanism
Variable name P_CURR P_FBC P_TOOL P_BASE P_NTOOL P_NBASE Array designation Details Note1) Mechanism No.(1 to 3) Current position (XYZ) Mechanism No.(1 to 3) XYZ position generated based on the feedback value from the servo Mechanism No.(1 to 3) Currently designated tool conversion data Mechanism No.(1 to 3) Currently designated base conversion data Mechanism No.(1 to 3) System default value (tool conversion data) Mechanism No.(1 to 3) System default value (base conversion data) Current speed override on the operation panel (0 to 100%) Current override in designated program (0 to 100%) Current joint override (0 to 100%) System default value (default value of M_OVRD) (%) System default value (default value of M_JOVRD) (%) A value of 1 is input if execution of an instruction is skipped as a result of executing the line that includes the last executed SKIP command, otherwise a value of 0 is input. Current specified acceleration rate (%) Current specified deceleration rate (%) System default value default value of M_ACL% System default value default value of M_DACL% Current acceleration/deceleration status 0 = Stopped, 1 = Accelerating, 2 = Constant speed, 3=Decelerating Operation status (1: Operating, 0: Not operating) Pause status (1: Pausing, 0: Not pausing) Specifies whether or not the program selection is possible in the specified task slot. (1: Selection possible, 0: Selection not possible, in pause status) Cycle operation status (1: Cycle operation, 0: Non-cycle operation) Cycle stop operation status (1: Cycle stop, 0: Not cycle stop) Execution program name Currently executed line No. Error occurring (1: An error has occurred, 0: No errors have occurred) Reads an error level. caution/low/high1/high2 1/2/3/4 Reads an error number. Attribute Note2)

Data type, Unit Position type Position type Position type Position type Position type Position type Integer type, % Integer type, % Integer type, % Single-precision real number type, % Single-precision real number type, % Integer type
M_OPOVRD None M_OVRD M_JOVRD M_NOVRD Slot No.(1to 32) Slot No.(1to 32) Slot No.(1to 32)
M_NJOVRD Slot No.(1to 32) M_SKIPCQ Slot No.(1to 32)
M_ACL M_DACL M_NACL M_NDACL M_ACLSTS
Slot No.(1to 32) Slot No.(1to 32) Slot No.(1to 32) Slot No.(1to 32) Slot No.(1to 32)
Single-precision real number type, % Single-precision real number type, % Single-precision real number type, % Single-precision real number type, % Integer type
M_RUN M_WAI M_PSA
Slot No.(1to 32) Slot No.(1to 32) Slot No.(1to 32)
Integer type Integer type Integer type
M_CYS
Slot No.(1to 32)
Integer type
M_CSTP C_PRG M_LINE M_ERR M_ERRLVL M_ERRNO
None Slot No.(1to 32) Slot No.(1to 32) None None None
Integer type Character string type Integer type Integer type Integer type Integer type
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Variable name M_SVO M_UAR Array designation Attribute Details Note1) Note2) Mechanism No.(1 to 3) Servo motor power on (1: Servo power on, 0: Servo power off) Mechanism No.(1 to 3) Bit data. (1: Within user specified area, 0: Outside user specified area) Bit 0area 1 to Bit 7area 8 Input No.(0 to 32767) Use this variable when inputting external input signals (bit units). General-purpose bit device: bit signal input 0=off 1=on The signal numbers will be 6000s for CC-Link Input No.(0 to 32767) Use this variable when inputting external input signals (8-bit units) General-purpose bit device: byte signal input The signal numbers will be 6000s for CC-Link Input No.(0 to 32767) Use this variable when inputting external input signals (16-bit units) General-purpose bit device: word signal input The signal numbers will be 6000s for CC-Link Output No.(0 to 32767) Use this variable when inputting external output signals (bit units). General-purpose bit device: bit signal input 0=off 1=on The signal numbers will be 6000s for CC-Link Output No.(0 to 32767) Use this variable when inputting external output signals (8-bit units) General-purpose bit device: byte signal input The signal numbers will be 6000s for CC-Link Output No.(0 to 32767) Use this variable when inputting external output signals (16-bit units) General-purpose bit device: word signal input The signal numbers will be 6000s for CC-Link Input No.(from 6000) CC-Link's remote register: Input register Output No.(from 6000) CC-Link's remote register: output register Input No.(1 to 8) Returns a hand check input signal.
Data type, Unit Integer type Integer type
M_IN
Integer type
M_INB
Integer type
M_INW
Integer type
M_OUT
Integer type
M_OUTB
Integer type
M_OUTW
Integer type
M_DIN M_DOUT M_HNDCQ
Integer type Integer type Integer type
P_SAFE C_MECHA C_MAKER C_USER C_DATE C_TIME M_BTIME M_TIMER
Mechanism No.(1 to 3) Returns an evasion point position. Slot No.(1 to 32) None None None None None Timer No. (1 to 8) Returns the type name of the robot. Shows manufacturer information (a string of up to 64 characters). Returns the content of the parameter "USERMSG."(a string of up to 64 characters). Current date expressed as "year/month/date". Current time expressed as "time/minute/second". Returns the remaining battery capacity time (hours). Constantly counting. Value can be set. [ms] It is possible to measure the precise execution time by using this variable in a program. A variable whose position coordinate values (X, Y, Z, A, B, C, FL1, FL2) are all 0 Circumference rate (3.1415...)
Position type Character string type Character string type Character string type Character string type Character string type Integer type, Time Single-precision real number type Position type Double-precision real number type
P_ZERO M_PI
None None
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Variable name M_EXP M_G M_ON M_OFF M_MODE Array designation Details Note1) None Base of natural logarithm (2.71828...) None None None None Specific gravity constant (9.80665) 1 is always set 0 is always set Contains the status of the key switch of the operation panel TEACH/AUTO(OP)/AUTO(Ext.)1/2/3 Attribute Data type, Unit Note2) Double-precision real number type Double-precision real number type Integer type

Integer type Integer type
Note1) Mechanism No. .....1 to 3, Specifies a mechanism number corresponding to the multitask processing function. Slot No. .....................1 to 32, Specifies a slot number corresponding to the multitask function. Input No. ................0 to 32767: (theoretical values). Specifies a bit number of an input signal. Output No. .............0 to 32767: (theoretical values). Specifies a bit number of an output signal. Note2) R ...............................Only reading is possible. RW ............................Both reading and writing are possible.
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(2) Built-in functions that operate without any problem in the user mechanism
Class Numeric functions Function name (format) ABS (<Numeric expression>) CINT (<Numeric expression>) DEG (<Numeric expression:radian>) EXP (<Numeric expression>) FIX (<Numeric expression>) INT (<Numeric expression>) LEN(<Character string expression>) LN (<Numeric expression>) LOG (<Numeric expression>) MAX (<Numeric expression>...) MIN (<Numeric expression>...) RAD (<Numeric expression: deg.>) SGN (<Numeric expression>) SQR (<Numeric expression>) STRPOS (<Character string expression>, <Character string expression>) RND (<Numeric expression>) ASC(<Character string expression>) Functions Produces the absolute value Rounds off the decimal value and converts into an integer. Converts the angle unit from radian (rad) to degree (deg). Calculates the value of the expression's exponential function Produces an integer section Produces the largest integer that does not exceed the value in the expression. Produces the length of the character string. Produces the logarithm. Produces the common logarithm. Obtains the maximum value from a random number of arguments. Obtains the minimum value from a random number of arguments. Converts the angle unit from radian (rad) to degree (deg). Checks the sign of the number in the expression Calculates the square root Obtains the 2nd argument character string position in the 1st argument character string. Produces the random numbers. Provides a character code for the first character of the character string in the expression. Converts a 2-byte character string into integers. Converts a 4-byte character string into a single-precision real number. Converts an 8-byte character string into a double-precision real number. Converts a character string into a numeric value. Calculates the arc tangent. Unit: radian Definition range: Numeric value, Value range: -/2 to +/2 Calculates the arc tangent. Unit: radian =ATN2( , x) Definition range: Numeric value of or x that is not 0 Value range: - to + Calculates the cosine Unit: radian Definition range: Numeric value range, Value range: -1 to +1 SIN(<Numeric expression>) Calculates the sine Unit: radian Definition range: Numeric value range, Value range: -1 to +1 Numeric value Result Numeric value
CVI(<Character string expression>) CVS(<Character string expression>) CVD(<Character string expression>) VAL(<Character string expression>) Trigonometric functions ATN2(<Numeric expression>, <Numeric expression>) ATN(<Numeric expression>)
COS(<Numeric expression>)
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Class Function name (format) TAN(<Numeric expression>) Functions Calculates the tangent. Unit: radian Definition range: Numeric value range, Value range: Range of numeric value Result Numeric value
Character string BIN$(<Numeric expression>) functions CHR$(<Numeric expression>) HEX$(<Numeric expression>) LEFT$(<Character string expression>,<Numeric expression>) MID$(<Character string expression>, <Numeric expression>, <Numeric expression>) MIRROR$ (<Character string expression>) MKI$(<Numeric expression>) MKS$(<Numeric expression>) MKD$(<Numeric expression>) RIGHT$ (<Character string expression>, <Numeric expression>) STR$(<Numeric expression>) CKSUM (<Character string expression>, <Numeric expression>, <Numeric expression>) Position variables INV(<Position>) PTOJ(<Position>) JTOP(<Position>) ZONE(<Position 1>,<Position 2>, <Position 3>)
Converts numeric expression value into binary Character string character string. Provides character having numeric expression value character code. Converts numeric expression value into hexadecimal character string. Obtains character string having length designated with 2nd argument from left side of 1st argument character string. Obtains character string having length designated with 3rd argument from the position designated with the 2nd argument in the 1st argument character string. Mirror reversal of the character string binary bit is carried out. Converts numeric expression value into 2-byte character string. Converts numeric expression value into 4-byte character string. Converts numeric expression value into 8-byte character string. Obtains character string having length designated with 2nd argument from right side of 1st argument character string. Converts the numeric expression value into a decimal character string. Creates the checksum of a character string. Returns the value of the lower byte obtained by adding the character value of the second argument position to that of the third argument position, in the first argument character string. Obtains the reverse line. Converts the position data into joint data. Converts the joint data into position data. Checks whether position 1 is within the space (Cube) created by the position 2 and position 3 points. Outside the range=0, Within the range=1 For position coordinates that are not checked or non-existent, the following values should be assigned to the corresponding position coordinates: If the unit is degrees, assign -360 to position 2 and 360 to position 3 If the unit is mm, assign -10000 to position 2 and 10000 to position 3 Numeric value
Position Joint Position Numeric value
(3) Instructions related to movement control that operate without any problem in the user mechanism Command
MOV(Move) MVA(Move Arch) OVRD(Override) JOVRD(J Override) CNT (Continuous) Joint interpolation Arch motion interpolation Overall speed specification Speed specification during joint interpolation movement Continuous path mode specification
Explanation
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Command
ACCEL (Accelerate) JRC(Joint Roll Change) FINE(Fine) SERVO(Servo) WTH(With) WTHIF(With If)
Explanation
Acceleration/deceleration rate specification Enables multiple rotation of the tip axis Robot's positioning range specification Servo motor power ON/OFF Addition instruction of movement instruction Additional conditional instruction of movement instruction
(4) Instructions related to program control that operate without any problem in the user mechanism
Command IFTHENELSEENDIF(If Then Else) SELECT CASE GOTO(Go To) GOSUB (RETURN) (Go Subroutine) RESET ERR(Reset Error) CALLP(Call P) FPRM(FPRM) DLY(Delay) HLT(Halt) END(End) ONGOSUB(ON Go Subroutine) ONGOTO(On Go To) FOR - NEXT (For-next) WHILE-WEND(While End) OPEN(Open) PRINT(Print) INPUT(Input) CLOSE(Close) COM ON/COM OFF/COM STOP (Communication ON/OFF/STOP) ON COM GOSUB (ON Communication Go Subroutine) HOPEN / HCLOSE(Hand Open/Hand Close) ERROR(error) SKIP(Skip) WAIT(Wait) CLR(Clear) Conditional branching Enables multiple branching Jump Subroutine jump Resets an error (use of default is not allowed) Program call Program call argument definition Timer Suspends a program End a program Subroutine jump according to the value Jump according to the value Repeat Conditional repeat Opens a file or communication line Outputs data Inputs data Closes a file or communication line Enables, disables or pauses communication interrupt Communication interrupt subroutine jump Hand's open/close User error Skip while moving Waiting for conditions Signal clear Explanation
(5) Definition instructions that operate without any problem in the user mechanism Command
DIM(Dim) DEF PLT(Define pallet) PLT(Pallet) DEF ACT(Define act) ACT(Act) DEF JNT(Define Joint) DEF POS(Define Position)
Explanation
Array variable declaration Pallet declaration Pallet position calculation Interrupt definition Starts or ends interrupt monitoring Joint type position variable definition XYZ type position variable definition
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DEF INTE/DEF FLOAT/DEF DOUBLE (Define Integer/Float/Double) DEF CHAR(Define Character) DEF IO(Define IO) DEF FN(Define function) TOOL(Tool) BASE(Base) Integer or real number variable definition Character variable definition Signal variable definition User function definition Hand length setting Robot base position setting
(6) Multi-tasks that operate without any problem in the user mechanism Command Explanation
XLOAD(X Load) XRUN (X Run) XSTP(X Stop) XRST(X Reset) XCLR(X Clear) GETM (Get Mechanism) RELM (Release Mechanism) PRIORITY(Priority) RESET ERR(Reset Error) Loads a program to another task slot Execute the program in another task slot Stop the program in another task slot Resets the program in another task slot being suspended Cancels the loading of the program from the specified task slot Obtains mechanical control right Releases mechanical control right Changes the task slot priority Resets an error (use of default is not allowed)
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8.7 Example of System Configuration of the User Mechanism

This section shows an example of system configuration using the additional axis interface.
8.7.1 Rotation table system System Overview This example shows a system using a standard robot and a rotary table in which the rotary table functions as a multi-mechanism (controlled asynchronously with the robot arm).
Robot arm CR1/CR1B controller Servomotor
Expansion option box (In the box: Additional axis interface card Rotation table Fig. 8.7.1 Rotation table system Table 8.7.1 Structural equipment Robot arm Robot controller Servo amplifier Servo motor Rotation table Servo amplifier

CR1-571/CR1B-571 controller Prepared by the customer. Prepared by the customer. Manufactured and prepared by customer.
Table 8.7.2 Rotation axis specification Control axis number of servo 1st Number of mechanisms and number of axis Unit of additional axis Rotation direction of additional axis Acceleration/deceleration of the additional axis Total speed ratio of additional axis Rated speed Maximum speed Encoder resolution Operating range Origin designated by user 1 mechanism and 1 axis degree (rotation axis) Forward run (CCW) 0.4 seconds per each 1/20 (1/20 rotation of additional axis per rotation of motor) 3000 (rpm) 4000 (rpm) 16384 (pulse/rev) 160 to +160 (degree) 90 (degree)
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Connecting devices
Devices are connected as follows. (1) Connect the additional axis interface card (CON1 connector) and the servo amplifier (CN1A connector) with a bus cable. (Refer to "5.1Connection of CR1/CR1B controller and servo amplifier.") (2) Set the axis selection switch (CS1) of the servo amplifier to "0." (Refer to "6.1Servo amplifier setting.") (3) Connect the servo amplifier and the servo motor. (Refer to 5.4Connection example of servo amplifier and servo motor.") Servo amplifier Additional axis interface card Terminator (MR-A-TM)
Bus cable (MR-J2HBUS1M)
Axis selection switch 0 Servo control axis No. 1st axis Fig. 8.7.2 Connection of controller and servo amplifier
CAUTION
Set the servo amplifier parameters by refer to "6.2Parameter setting of servo amplifier."
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Set the parameters related to the system configuration of the robot controller. For details on how to set these parameters, refer to separate "Instruction Manual/ Detailed explanations of functions and operations". Table 8.7.3 Setting the rotation table system parameters
Parameter name changed AXUNUM AXMENO AXJNO AXUNT AXSPOL Before/after change Before After Before After Before After Before After Before After Before AXACC After Before AXDEC After AXGRTN AXGRTD Before After Before After Before AXMREV After Before AXJMX After Before AXENCR After Before MEJAR (Mechanism No.2) After USERORG (Mechanism No.2) Before 0
1
Value of parameter
0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0
2, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0
0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0
1, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0
0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0 0.20, 0.20, 0.20, 0.20, 0.20, 0.20, 0.20, 0.20, 0.20, 0.20, 0.20, 0.20, 0.20, 0.20, 0.20, 0.20
0.40, 0.20, 0.20, 0.20, 0.20, 0.20, 0.20, 0.20, 0.20, 0.20, 0.20, 0.20, 0.20, 0.20, 0.20, 0.20
0.20, 0.20, 0.20, 0.20, 0.20, 0.20, 0.20, 0.20, 0.20, 0.20, 0.20, 0.20, 0.20, 0.20, 0.20, 0.20
0.40, 0.20, 0.20, 0.20, 0.20, 0.20, 0.20, 0.20, 0.20, 0.20, 0.20, 0.20, 0.20, 0.20, 0.20, 0.20
1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1 10, 10, 10, 10, 10, 10, 10, 10, 10, 10, 10, 10, 10, 10, 10, 10
20, 10, 10, 10, 10, 10, 10, 10, 10, 10, 10, 10, 10, 10, 10, 10
2000, 2000, 2000, 2000, 2000, 2000, 2000, 2000, 2000, 2000, 2000, 2000, 2000, 2000, 2000, 2000
3000, 2000, 2000, 2000, 2000, 2000, 2000, 2000, 2000, 2000, 2000, 2000, 2000, 2000, 2000, 2000
3000, 3000, 3000, 3000, 3000, 3000, 3000, 3000, 3000, 3000, 3000, 3000, 3000, 3000, 3000, 3000
4000, 3000, 3000, 3000, 3000, 3000, 3000, 3000, 3000, 3000, 3000, 3000, 3000, 3000, 3000, 3000
8192, 8192, 8192, 8192, 8192, 8192, 8192, 8192, 8192, 8192, 8192, 8192, 8192, 8192, 8192, 8192
16384, 8192, 8192, 8192, 8192, 8192, 8192, 8192, 8192, 8192, 8192, 8192, 8192, 8192, 8192, 8192
-80000.00, 80000.00, -80000.00, 80000.00, -80000.00, 80000.00, -80000.00, 80000.00, -80000.00, 80000.00, -80000.00, 80000.00, -80000.00, 80000.00, -80000.00, 80000.00
-160.00, 160.00, -80000.00, 80000.00, -80000.00, 80000.00, -80000.00, 80000.00, -80000.00, 80000.00, -80000.00, 80000.00, -80000.00, 80000.00, -80000.00, 80000.00
0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0

90.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0
After
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Program example
(1) Details of work In this system, a standard robot unloads a work from a rotary axis (position "<1>") and transports it to a station (position "<2>").
Robotarm(Mechanism No.1)
Flow of work <1> <2> Rotation axis (Mechanism No.2)
Station
Flow of work
(i) A work is transported to rotation axis from the external location. (ii) The rotary axis rotates and transports a work to the position from which the robot unloads the work. (iii) The robot unloads the work from the rotary axis and transports the work to the station. (iv) The work is transported from the station to the external location. (2) Robot Program Structure Provide one robot program for each mechanism, as shown below Program name 1 2 Explanation Operation program of standard robots Operation program of rotation axis
74

(3) Input/Output signal The general I/O signals to be used are as follows General purpose input/output name General purpose input 11 Signal H/L H (1) L (0) Explanation Transport of works from the external location to rotation axis has been complete. Work not transported from the external location to the rotary axis.
General purpose input/output name
Signal H/L H (1)
Explanation Transport of works from the external location to rotation axis has been complete. Work not transported from the external location to the rotary axis.
General purpose output 11
L (0)
(4) Position variable The position data is as follows
Robotarm(Mechanism No.1)
P1SF P11 P12 Rotation axis (Mechanism No.2) P232 P231
Station
Mechanism name Robot arm (Mechanism No.1)
Position variable name P1SF P11 P12 Safe position
Explanation Position where works are unloaded from rotation axis (Mechanism No.2) Position where works are loaded to station. Position to which the work is to be transported Position from which the standard robot (mechanism number 1) unloads the work
Rotation axis (Mechanism No.2)
P231 P232
75

(5) Program External Variables Program external variables are used as interlock variables between mechanisms. The following variables are used. Variable name M_01 Variable (0/1) 0 1 0 M_02 1 Explanation Preparation of work on rotary axis incomplete Preparation of work on rotary axis complete Unloading of work by robot from rotary axis incomplete Unloading of work by robot from rotary axis complete
The following flow illustrates only the interlock between mechanisms: Note that programs 1 and 2 in the diagram start simultaneously. (Refer to "Procedure 2: Setting the task slot parameter " in "(6) Procedure up to program execution.")
Program1 start
Program2 start
Work preparation request
Work preparation request ?
Work preparation complete?
Work preparation complete
Work unloading complete
Work unloading complete?
76

(6) Procedure up to program execution Procedure 1 : Program creation <1>Program of mechanism number 1 (Program name:1) 100 GETM 1 ' Gets mechanism 1 110 M_01#=0 ' Interlock variable is initialized 120 *LOOP 130 M_01#=1 ' Requests for preparation of work on rotary axis 140 IF M_01#=1 THEN GOTO 140 ' Waits for completion of preparation of work on rotary axis 150 MOV P11,-50 ' Moves to 50 mm above P11 160 MVS P11 ' Moves to position from which work is unloaded from rotary axis 170 HCLOSE 1 ' Pickup work piece 180 DLY 0.5 ' Waits for 0.5 sec 190 MVS P11,-50 Moves to 50 mm above P11 200 M_02#=1 ' Unloading of work from rotary axis is complete. 210 MOV P12,-50 ' Moves to 50 mm above P12 220 MVS P12 ' Moves work placement position of positioning device 230 HOPEN 1 ' Places work 240 DLY 0.5 ' Waits for 0.5 sec 250 MVA P12,-50 ' Moves to 50 mm above P12 260 GOTO *LOOP <2>Program of mechanism number 2 (Program name:2) 100 GETM 2 ' Gets mechanism 2 110 M_OUT(11)=0 ' Prohibits work transport to external location 120 MOV P231 ' Moves to work transport position 130 DLY 0.1 ' Waits for completion (static) of operation (set values must be adjusted) 140 *LOOP 150 IF M_01#=0 THEN GOTO 150 ' Waits for request of preparation of work on rotary axis 160 M_OUT(11)=1 ' Permits work transport to external location 170 IF M_IN(11)=0 THEN GOTO 170 ' Waits for completion of work transport from external location 180 M_OUT(11)=0 ' Prohibits work transport to external location 190 MOV P232 ' Rotates to position where robot unload the work 200 DLY 0.1 ' Waits for completion (static) of operation (set values must be adjusted) 210 M_02#=0 ' Rotary axis requests unloading of work 220 M_01#=0 ' Preparation of work by rotary axis is complete. 230 IF M_02#=0 THEN GOTO 230 ' Waits for completion of unloading of work from rotary axis 240 MOV P231 ' Moves to work transport position 250 GOTO *LOOP Procedure 2 : Setting the task slot parameter Set the slot parameters as follows. Parameters SLT1 SLT2 Program name 1 2 Operation mode REP REP Operation format START START Number of executed lines 1 1
77

The slot parameters have the format shown below. For details refer to "Instruction Manual/ Detailed explanations of functions and operations". SLT* = 1. Program name, 2. Operation format, 3. Starting conditions, 4. Order of priority Item of parameter Default value Setting value 1. Program name 2. Operation format REP Possible to set a registered program name REP : Continuous Operation CYC : One cycle operation START : Execution of a program using the START button on the operation panel or the I/O START signal ALWAYS : Execution of a program when the controller's power is turned on ERROR : Execution of a program when the controller is in error status 1 to 31: Number of lines executed at one time at multitask operation
3. Starting conditions
START
4. Order of priority
Procedure 3 : Reflecting the task slot parameters Turn off the power to enable the SLT1 and SLT2 parameters, and then turn on the power again. Procedure 4 : Starting Run the program 1 and 2 by starting from the operation panel.
78
8.User Mechanism Settings, Operation, and Commands 8.7.2 System with multiple axes System Overview This example shows a system consisting of a standard robot, a vertical moving axis and a rotary axis in which the vertical moving axis and the rotary axis function as multi-mechanisms (controlled asynchronously with the robot arm).
CR1/CR1B robot controller
Robot arm (Mechanism No.1) Expansion option box (In the box: Additional axis interface card
Each moving axis (Mechanism No.2)
Vertical moving 1
axis Servo motor 1 Servo amplifier 1
1st axis
Vertical moving 2
axis Servo motor 2 Servo amplifier 2
2nd axis
3rd axis Rotation axis Servo motor 3 Servo amplifier 3
Fig. 8.7.4 System with multiple axes
79

Table 8.7.3 Structural equipment Robot arm Robot controller Servo amplifier Servo motor Vartical moving axis 1 Vartical moving axis 2 Rotation table

CR1-571/CR1B-571 controller , Expansion option box , Additional axis interface card Prepared by the customer. Prepared by the customer. Manufactured and prepared by customer. Manufactured and prepared by customer. Manufactured and prepared by customer. Table 8.7.4 Multiple axes specifications 2
Vartical moving axis 1 Vartical moving axis 2 Rotation axis
Mechanism number Name of mechanism
Axis number of mechanism Control axis number of servo Unit of additional axis Rotation direction of additional axis Acceleration/deceleration of the additional axis
1 axis (J1) 1st mm (Direct moving axis)
2 axis (J2) 2nd mm (Direct moving axis) Forward run (CCW) 0.4 seconds per each 2/37
3 axis (J3) 3rd degree (rotation axis)
Total speed ratio of additional 2/37 axis
1/20 (1/20 rotation of additional axis per rotation of motor) 3000 (rpm) 4000 (rpm)
Rated speed Maximum speed Encoder resolution Operating range Origin designated by user 2000 to +3000 (mm) 0 (mm)
16384 (pulse/rev) 2000 to +3000 (mm) 0 (mm) 160 to +160 (degree) 90 (degree)
80

Connecting devices
Devices are connected as follows. (1) Connect the additional axis interface card (CON1 connector) and the servo amplifier (CN1A connector) with a bus cable. (Refer to 5.1 Connection of CR1/CR1B controller and servo amplifier.") (2) Set the axis selection switch of the servo amplifier to the following: 0 for the first axis, 1 for the second axis, and 2 for the third axis. (Refer to "6.1 Servo amplifier setting.") (3) Connect the servo amplifier and the servo motor. (Refer to 5.4, "5.4 Connection example of servo amplifier and servo motor.")
Axis selection switch 0 Servo control axis No. 1st axis Additional axis interface card Axis selection switch 1 Servo control axis No. 2nd axis
Axis selection switch 2 Servo control axis No. 3rd axis Servo amplifier Bus cable MR-J2HBUS1M Bus cable MR-J2HBUS05M
Servo amplifier
Terminator MR-A-TM Servo amplifier
Bus cable MR-J2HBUS05M
Fig. 8.7.5 Connection of controller and servo amplifier Be sure to connect the end-terminal connector. If it is not connected, malfunction may occur.
CAUTION
Set the servo amplifier parameters by refer to "6.2 Parameter setting of servo amplifier."
81

Set the parameters of robot controller. For details on how to set these parameters, refer to "Instruction Manual/ Detailed explanations of functions and operations". Table 8.7.5 Setting the multiple axes system parameters
Parameter name changed AXUNUM AXMENO AXJNO AXUNT AXSPOL Before/after change Before After Before After Before After Before After Before After Before AXACC After Before AXDEC After AXGRTN AXGRTD Before After Before After Before AXMREV After Before AXJMX After Before AXENCR After Before MEJAR (Mechanism No.2) After USERORG (Mechanism No.2) Before Value of parameter 0 1 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0 2, 2, 2, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0 1, 2, 3, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0 1, 1, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0 0.20, 0.20, 0.20, 0.20, 0.20, 0.20, 0.20, 0.20, 0.20, 0.20, 0.20, 0.20, 0.20, 0.20, 0.20, 0.20 0.40, 0.40, 0.40, 0.20, 0.20, 0.20, 0.20, 0.20, 0.20, 0.20, 0.20, 0.20, 0.20, 0.20, 0.20, 0.20 0.20, 0.20, 0.20, 0.20, 0.20, 0.20, 0.20, 0.20, 0.20, 0.20, 0.20, 0.20, 0.20, 0.20, 0.20, 0.20 0.40, 0.40, 0.40, 0.20, 0.20, 0.20, 0.20, 0.20, 0.20, 0.20, 0.20, 0.20, 0.20, 0.20, 0.20, 0.20 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1 2, 2, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1 10, 10, 10, 10, 10, 10, 10, 10, 10, 10, 10, 10, 10, 10, 10, 10 37, 37, 20, 10, 10, 10, 10, 10, 10, 10, 10, 10, 10, 10, 10, 10 2000, 2000, 2000, 2000, 2000, 2000, 2000, 2000, 2000, 2000, 2000, 2000, 2000, 2000, 2000, 2000 3000, 3000, 3000, 2000, 2000, 2000, 2000, 2000, 2000, 2000, 2000, 2000, 2000, 2000, 2000, 2000 3000, 3000, 3000, 3000, 3000, 3000, 3000, 3000, 3000, 3000, 3000, 3000, 3000, 3000, 3000, 3000 4000, 4000, 4000, 3000, 3000, 3000, 3000, 3000, 3000, 3000, 3000, 3000, 3000, 3000, 3000, 3000 8192, 8192, 8192, 8192, 8192, 8192, 8192, 8192, 8192, 8192, 8192, 8192, 8192, 8192, 8192, 8192 16384, 16384, 16384, 8192, 8192, 8192, 8192, 8192, 8192, 8192, 8192, 8192, 8192, 8192, 8192, 8192 -80000.00, 80000.00, -80000.00, 80000.00, -80000.00, 80000.00, -80000.00, 80000.00, -80000.00, 80000.00, -80000.00, 80000.00, -80000.00, 80000.00, -80000.00, 80000.00 -2000.00, 3000.00, -2000.00, 3000.00, -160.00, 160.00, -80000.00, 80000.00, -80000.00, 80000.00, -80000.00, 80000.00, -80000.00, 80000.00, -80000.00, 80000.00 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0 0.0, 0.0, 90.0, 0.0, 0.0, 0.0, 0.0, 0.0
After
82

Program example
(1) Details of work In this system, works are transported between the standard robot and the rotary axis by utilizing interlock. Each mechanism repeats the following operation.
<3>
<2>
<1> Vertical moving axis 1 Robot arm (Mechanism No.1) (Mechanism No.2No.1 axis) Flow of work
Flow of work
(i) A work is transported to the vertical moving axis 1. (ii) The vertical moving axis 1 raises and transports the work to the position from which the standard robot unloads the work. (iii) The standard robot unloads the work from the vertical moving axis 1. (2) Robot Program Structure Provide one robot program for each mechanism, as shown below Program name 1 2 Explanation Operation program of standard robots Operation program of mechanism No.2.
83

(3) Input/Output signal The general I/O signals to be used are as follows General purpose input/output name General purpose input 11 Signal H/L H (1) L (0) Explanation Transport of works from the external location to vartical moving axis 1 has been complete. Work not transported from the external location to the vartical moving axis 1.
General purpose input/output name General purpose output 10 General purpose output 11
Signal H/L H (1) L (0) H (1) L (0)
Explanation Places workpiece Pickup workpiece Permits work transport to external location. Prohibits work transport to external location.
(4) Position variable The position data is as follows
P1SF
P11
P12 P232
P231
Robot arm (Mechanism No.1)
Vertical moving axis 1 (Mechanism No.2No.1 axis)
Mechanism name
Position variable name P1SF Safe position
Explanation Front of the position where the standard robot unloads the work from the vertical moving axis 1 (mechanism number 2). Position where works are unloaded from vartical moving axis 1 (Mechanism No.2) Position to which the work is to be transported Position from which the standard robot (mechanism number 1) unloads the work
Robot arm
(Mechanism No.1)
P11 P12
Rotation axis
(Mechanism No.2 : No.1 axis)
P231 P232
84

(5) Program External Variables Program external variables are used as interlock variables between mechanisms. The following variables are used. Variable name Variable (0/1) 0 M_01 1 0 M_02 1 Explanation Preparation of work on vartical moving axis 1 complete Preparation of work on vartical moving axis 1 incomplete Unloading of work by standard robot from vartical moving axis 1 incomplete Unloading of work by standard robot from vartical moving axis 1 complete
The following flow illustrates only the interlock between mechanisms: Note that programs 1 and 2 in the diagram start simultaneously. (Refer to " Procedure 2: Setting the task slot parameter " in "(6) Procedure up to program execution".)
Program1 start
Program2 start
Work preparation request
Work preparation request ?
Work preparation complete?
Work preparation complete
Work unloading complete
Work unloading complete?
85

(6) Procedure up to program execution Procedure 1 : Program creation <1>Program of mechanism number 1 (Program name:1) 100 GETM 1 ' Gets mechanism 1 110 M_01#=0 ' Interlock variable is initialized 120 M_02#=0 ' Interlock variable is initialized 130 MOV P1SF ' Moves to safe position 140 *LOOP 150 M_01#=1 ' Requests for preparation of work on vertical moving axis 160 IF M_01#=1 THEN GOTO 160 ' Waits for completion of preparation of work on vertical moving axis 170 MOV P11,-10 Moves 10 mm below P11 180 MVS P12,-10 ' Moves 10 mm below P12 190 MVS P12 Move to P12 200 M_OUT(10)=0 ' Pickup workpiece 210 DLY 0.05 ' Waits for 0.05 sec of vacuum timer 220 MVS P12,10 ' Moves 10 mm above P12 230 MVS P11,10 Moves 10 mm above P11 240 DLY 0.1 ' Waits for completion (static) of operation (set values must be adjusted) 250 M_02#=1 ' Unloading of work from vertical moving axis is complete. 260 MOV P1SF ' Move to safe position 270 GOTO *LOOP <2>Program of mechanism number 2 (Program name:2) 100 GETM 2 ' Gets mechanism 2 110 M_OUT(11)=0 ' Prohibits work transport to external location 120 PMV=P_CURR(2) Reads current position 130 PMV.X=P231.X ' Rewrites element of axis 1 (vertical moving axis 1) of current position 140 MOV PMV ' Moves to work transport position 150 DLY 0.1 ' Waits for completion (static) of operation (set values must be adjusted) 160 *LOOP 170 IF M_01#=0 THEN GOTO 170 ' Waits requests for request of preparation of work on vertical moving axis 1 180 M_OUT(11)=1 ' Permits work transport to external location 190 IF M_IN(11)=0 THEN GOTO 190 ' Waits for completion of work transport from external location 200 M_OUT(11)=0 ' Prohibits work transport to external location 210 PMV=P_CURR(2) Reads current position 220 PMV.X=P232.X ' Rewrites element of axis 1 (vertical moving axis 1) of current position 230 MOV PMV Moves to the position where robot unload work 240 DLY 0.1 ' Waits for completion (static) of operation (set values must be adjusted) 250 M_02#=0 ' Requests to unload the work from the moving axis. 260 M_01#=0 ' Preparation of work on vertical moving axis 1 incomplete. 270 IF M_02#=0 THEN GOTO 270 ' Waits for completion of unload the work from vertical moving axis 280 PMV=P_CURR(2) ' Reads current position 290 PMV.X=P231.X ' Rewrites elements of axis 1 (vertical moving axis 1) of current position 300 MOV PMV ' Moves to work transport position 310 GOTO *LOOP
86

Procedure 2 : Setting the task slot parameter Set the slot parameters as follows. Parameters SLT1 SLT2 Program name 1 2 Operation mode REP REP Operation format START START Number of executed lines 1 1
The slot parameters have the format shown below. For details refer to separate "Instruction Manual/ Detailed explanations of functions and operations". SLT* = 1. Program name, 2. Operation format, 3. Starting conditions, 4. Order of priority Item of parameter Default value Setting value 1. Program name 2. Operation format REP Possible to set a registered program name REP : Continuous Operation CYC : One cycle operation START : Execution of a program using the START button on the operation panel or the I/O START signal ALWAYS : Execution of a program when the controller's power is turned on ERROR : Execution of a program when the controller is in error status 1 to 31: Number of lines executed at one time at multitask operation
3. Starting conditions
START
4. Order of priority
Procedure 3 : Reflecting the task slot parameters Turn off the power to enable the SLT1 and SLT2 parameters, and then turn on the power again. Procedure 4 : Starting Run the program 1 and 2 by starting from the operation panel.
87
9.Design and Engineering
9. Design and Engineering

The communication specifications, etc., of the additional axis interface to each device are described.
9.1 Interface for servo amplifier

9.1.1 Connector pins of additional axis interface SV2(CR2/CR3/CR4/CR7/CR8 Controller)
The correspondence between the pin No. and signal name of the additional axis interface is shown below. Table 9.1.1 Pin numbers of SV2 1 A B SG SG 2 SD SDL 3 (ALM) (ALM) 4 RD RDL 5 SG SG 6 7 EMG EMGL 8 9 VB 10
Table 9.1.2 Signal name and function of SV2 Pin No. 2A SD Signal name Communication transmission signal Communication transmission signal Communication reception signal Communication reception signal Emergency stop signal Emergency stop signal Battery Input/ output Output Content + side of signal transmit from controller to general-purpose servo amplifier side of signal transmit from controller to general-purpose servo amplifier + side of signal received from general-purpose servo amplifier to controller side of signal received from general-purpose servo amplifier to controller + side of emergency stop request signal from controller to general-purpose servo amplifier side of emergency stop request signal from controller to general-purpose servo amplifier Battery input when battery unit is used 0V of control power supply on the card Electrical specifications
2B
SDL
Output
4A
RD
Input
Differential communication 0 to 5V
4B
RDL
Input
7A
EMG
Output
7B 9A 1A 1B 5A 5B
EMGL VB
Output Input
SG
0V
88
9.Design and Engineering 9.1.2 Connector pins of additional axis interface CON1(CR1/CR1B/CR2A/CR2B Controller)
The general drawing of the additional axis interface card is shown below:
Rotary switch
connector
EMGIN
CON1connector
Jumper pin
RTBUS connector
Fig. 9.1.1 Additional axis interface card general drawing Table 9.1.3 Details of additional axis interface card Detailed explanation Connection connector with the amplifier. Refer to table 9.1.4 and 9.1.5 for detail. not used. Do not change the jumper settings; use the factory default settings. not used.Use "0." not used. Do not connect anything to this connector. If a peripheral device is connected, the controller may be damaged.
Name CON1 connector EMGIN Jumper pin Rotary switch CN5V connector
RTBUS connector Connector with expansion option box
The correspondence between the pin No. and signal name of the additional axis interface is shown below. Table 9.1.4 Pin numbers of CON1 3 4 5 6 7 RD RDL SG SG EMG EMGL
1 A B SG SG
2 SD SDL
9 VB
10
89

Table 9.1.5 Signal name and function of CON1 Pin No. 2A SD Signal name Communication transmission signal Communication transmission signal Communication reception signal Communication reception signal Emergency stop signal Emergency stop signal Battery Input/ output Output Content + side of signal transmit from controller to general-purpose servo amplifier side of signal transmit from controller to general-purpose servo amplifier + side of signal received from general-purpose servo amplifier to controller side of signal received from general-purpose servo amplifier to controller + side of emergency stop request signal from controller to general-purpose servo amplifier side of emergency stop request signal from controller to general-purpose servo amplifier Battery input when battery unit is used 0V of control power supply on the card Electrical specifications
2B
SDL
Output
4A
RD
Input
Differential communication 0 to 5V
4B
RDL
Input
7A
EMG
Output
7B 9A 1A 1B 5A 5B
EMGL VB
Output Input
SG
0V
9.1.3 Example of connection with servo amplifier

The following shows a connection example of the additional axis interface and the servo amplifier when the system shown in the following drawing is configured using a CR1/CR1B controller.
Robot arm
Expansion option box + additional axis interface card
Servo amplifier
B
Controller
Emergency stop switch Teaching pendant (option)
M: Motor B: Brake E: Encoder
90

The following shows a connection example of the additional axis interface and the servo amplifier when the system shown in the following drawing is configured using a CR2/CR3/CR4/CR7/CR8 controller.
Robot arm Servo amplifier

B
Controller
The following shows a connection example of the additional axis interface and the servo amplifier when the system shown in the following drawing is configured using a CR2A/CR2B controller.
Robot arm
Controller Servo amplifier

B
Additional axis interface card
91

Model MR-J2*-*B
Robot controller
CON1/
2A 2B 4A 4B 7A 7B 9A 1A 1B 5A 5B
2A 2B 4A 4B 7A 7B 9A 1A 1B 5A 5B
Servo amplifier
2A 2B 4A 4B 7A 7B 9A 1A 1B 5A 5B
Connect to the next amplifier with cable or the terminator is connected.
Servomotor Detector
Power supply 200 to 230 VAC 50/60Hz
Regenerative option

(NOTE 3)
(NOTE 2) NOTE 1. Be sure to connect the emergency stop EMG. NOTE 2. When the regenerative option is used, disconnect the connection to P and C of the internal regenerative registor and connect the option between P and C. NOTE 3. Apply the D class ground (100 or less) for grounding. * For other details, refer to "Instruction Manual for MR-J2 Amplifier".
Operation READY OFF ON

(NOTE 1)

24V power supply
92
10.Such a Case
10. Such a Case

(1) An initializing error occurs on the servo amplifier.
Check the connection of the cable and connector. (Refer to "this manual/5Connection and Wiring".) Check the setting of the axis selection switch of the amplifier. (Refer to "this manual/6 Servo system setting".) Confirm that the terminator is connected. (Refer to "this manual/5Connection and Wiring".)
(2) The moving direction of the additional axis is reversed.

Check the setting of the parameter AXSPOL of the robot. (Refer to "this manual/7.1Description of parameters, 8.2Description of parameters". Check the setting of the parameter POL of the servo amplifier. (Refer to "this manual/6.2 Parameter setting of servo amplifier".)
(3) The position varies every time when the power supply is turned ON and OFF.
Check the setting of the parameter AMP of the servo amplifier. (Refer to "this manual/6.2 Parameter setting of servo amplifier".) Check the setting of the parameter POL of the servo amplifier. (Refer to "this manual/6.2 Parameter setting of servo amplifier".)
(4) The additional axis does not move smoothly or satisfactorily.

Adjust the parameter of the servo amplifier. For details, refer to "Instruction Manual for Servo Amplifier".
(5) If you are using the MELSERVO-J2-Super servo amplifier, there is a difference between the displayed and actual displacements of the additional axis. Check the setting of the parameter FBP of the servo amplifier. (Refer to "this manual/6.2 Parameter setting of servo amplifier".)
93
11.Appendix
11. Appendix
11.1 Error list
When an error occurs, a 5-digit error No. (example: "C0010") will appear at the STATUS NUMBER display on the operation panel at the front of the controller, and the [RESET] switch lamp will light. If any key, such as the T/B [MENU] key is pressed, a 4-digit error No. (number excluding first character, for example "0010" will appear for C0010) will appear on the T/B LCD display. The message, cause and measures to be taken are displayed in the following table for the error Nos. that may appear. Also, a detailed message will be displayed on the Error History screen of the T/B, depending on the error No. of the error occurred. Check by displaying the Error History screen after resetting the error. If the error recurs even after the measures in the table are taken, contact your dealer. [Note] The meaning of the error number in the following table are shown below.
0000 *
An error marked with a * reset by turning the power OFF and ON. Take the measures given. The error type is indicated with a 4-digit number. Three types of error classes are indicated. H: High level error ..............The servo turns OFF. L: Low level error................The operation will stop. C: Warning ........................The operation will continue. The errors, which occur only when the additional axis interface is used, are listed below.
Error No. H7600* Error message) Cause) Countermeasure) H7601* Error message) Cause) Countermeasure) H7602* Error message) Cause) Countermeasure) H7603* Error message) Cause) Countermeasure) Error message) H7604* Cause) Countermeasure) Error message) H7605* Cause) Countermeasure) Error message) H7606* Cause) Countermeasure) Error cause and measures Mechanism number of additional axis is illegal. The value of AXMENO (mechanism No. used) parameter is illegal. On the mechanical additional axis, change "0" to a value which is smaller than set to AXUNUM (number of mechanisms used). Axis number of additional axis is illegal. The value of AXJNO (setting axis No.) is illegal. Change the value of this parameter from 1 to 3. Change the value of this parameter to a order from 1. Axis numbers of additional axis are overlap. As the parameter value of AXJNO (setting axis No.), the same value is set at two or more elements. Change the values of the element Nos. which set the same values at this parameter AXMENO, to all different values. Unit of additional axis is illegal. The value of AXUNT (unit axis) parameter is illegal. Change the values of all elements of this parameter to "0" or "1". Acceleration time of additional axis is illegal. The value of AXACC (acceleration time) parameter is illegal. Change the values of all elements of this parameter to positive real numbers. Deceleration time of additional axis is illegal. The value of AXDEC (deceleration time) parameter is illegal. Change the values of all elements of this parameter to positive real numbers. Gear ratio numerator of additional axis is illegal. The value of AXGRTN (total speed ratio numerator) parameter is illegal. Change the values of all elements of this parameter to positive integers.
94
7Appendix
Error No. Error message) H7607* Cause) Countermeasure) Error message) H7609* Cause) Countermeasure) Error message) H7610* Cause) Countermeasure) Error message) H7611* Cause) Countermeasure) Error message) H7612* Cause) Countermeasure) Error message) H7613* Cause) Countermeasure) Error cause and measures Gear ratio denominator of additional axis is illegal. The value of AXGRTD (total speed ratio denominator) parameter is illegal. Change the values of all elements of this parameter to positive integers. Motor rated speed of additional axis is illegal. The value of AXMREV (rated speed) parameter is illegal. Change the values of all elements of this parameter to positive integers. Motor maximum speed of additional axis is illegal. The value of AXJMX (maximum speed) parameter is illegal. Change the values of all elements of this parameter to positive integers. Encoder pulse of additional axis is illegal. The value of AXENCR (encoder resolution) parameter is illegal. Change the values of all elements of this parameter to positive integers. JOG smoothening time constant of additional axis is illegal. The value of AXJOGTS (JOG smoothening time constant) parameter is illegal. Change the values of all elements of this parameter to 0 or positive real number. Turn OFF the power supply once, and turn ON it again. It is necessary to turn OFF the power supply once. Turn OFF the power supply of the controller, and turn it ON again.
For the errors not listed here, refer to separate "Instruction Manual/ Troubleshooting".
95
HEAD OFFICE : MITSUBISHI DENKI BLDG MARUNOUCHI TOKYO 100-8310 TELEX : J24532 CABLE MELCO TOKYO NAGOYA WORKS : 1-14, YADA-MINAMI 5, HIGASHI-KU, NAGOYA, JAPAN
JUL..2005 MEE Printed in Japan on recycled paper.
Specifications are subject to change without notice.

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Available Formats

MITSUBISHI

Mitsubishi Industrial Robot

ADDITIONAL AXIS INTERFACE

No MODE switch T/B Existence

T/B Ena/Dis switch Disable Disable Enable

REMOVE T/B switch

T/B Deadman switch

Servo ON/OFF state ON ON ON OFF OFF ON

The servo ON/OFF state of the robot arm

State of the output contact classified by controller

AUTO AUTO TEACH TEACH TEACH TEACH

Exists Exists Exists Exists Exists None

The door switch is opened.

1. The outline diagram of addition axis system

Fig. 1Outline diagram of addition axis system

Term inal To the internal circuit

<Addition axis am plifier box>

Use the em ergency stop output term inal.

Fig. 2Example of the standard circuit (CR1/CR1B controller) BFP-A8107-C03-A 2/3

<Addition axis amplifier box>

Fig. 3Example of the standard circuit (CR2A/CR2B controller)

<Addition axis amplifier box>

Fig. 4Example of the standard circuitCR3/CR4/CR7/CR8 controller

WARNING CAUTION WARNING CAUTION CAUTION CAUTION

Print date 2001-02-06 2001-11-20

Instruction manual No. BFP-A8107-A BFP-A8107-B Error in writing correction.

Additional AXISES card side

Make the cable one turn

1.How to use the instruction manual

1. How to use the instruction manual

1.1 Content of instruction manual

User Mechanism Settings, Operation, and Commands

Design and Engineering Such a Case

1.2 Codes of instruction manual

1.How to use the instruction manual

1.3 Terms used in instruction manual

2.1 Flow of works

3.Additional axis interface

3. Additional axis interface

3.1 What is the additional axis interface?

3.Additional axis interface

3.2 System configuration example of additional axis interface

Robot arm Servomotor CR1/CR1B controller

3.Additional axis interface

Servo amplifier 1 Servo amplifier 2

Fig. 3.2.3 Multiple axis system (an example)

3.Additional axis interface

3.3 Additional axis interface functions

3.4 Additional axis interface specifications

Specification of user mechanism

3 8 3 MELSERVO-J2-Super series/ MELSERVO-J2 series SSCNET (differential communication) of Mitsubishi

MELFA-BASICIV language method and MOVEMASTER command method CP control/PTP control

Max. 80000.00(0) to +80000.00 (0)

4.1 Standard configuration

Additional axis interface card 2A-RZ541

4.2 Necessary products

4.3 Software version confirmation

Version of robot controller Robot type

5.Connection and Wiring

5. Connection and Wiring