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4.Confirmation of product
4. Confirmation of product
This section explains the contents to confirm before using additional axis.
4.1 Necessary products
The products necessary in addition to the standard configuration are listed in "Table 4.1.1 Necessary products". For these main products, refer to "Instruction Manual for Servo Amplifier and Servomotor".
Table 4.1.1 Necessary Products
No.
1
2
3
4
Part name
Servo amplifier, servomotor, option, peripheral device
Battery
(for absolute position detection system)
Setup software
(For setup the parameter of servo amplifier and the graph indication, etc. )
Communication cable
(Communication cable between personal computer and servo amplifier for setup software)
Model name
Refer to "Instruction Manual for
Servo Amplifier and Servomotor".
MR-J3BAT Note1)
MRZJW3-SETUP2*1
Note2)
Q'ty
–
Amplifier quantity
1
MR-J3USBCBL3M 1
5 SSCNET III cable
MR-J3BUS*M
(* is cable Length)
1
Note1) The absolute-position-unit (MR-BTAS01) is necessary to the amplifier corresponding to the direct drive motor. Moreover, please perform magnetic pole detection operation by servo amplifier stand alone connection before using. Refer to the technical data of MR-J3*B-RJO80W for the magnetic pole detection operation method.
Note2) The version C2 edition or later of MRZJW3-SETUP221 is necessary when using the amplifier corresponding to the direct drive motor.
The version C3 edition or later of MRZJW3-SETUP221 is necessary when using the amplifier corresponding to the drive safety.
The version B3 edition or later of MRZJW3-SETUP221 is necessary when using the amplifier corresponding to the linear servo.
9
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Table of contents
- 11 1. How to use the instruction manual
- 11 1.1 Content of instruction manual
- 11 1.2 Codes of instruction manual
- 12 1.3 Terms used in instruction manual
- 13 2. Flow of works
- 13 2.1 Flow of works
- 14 3. Additional axis function
- 14 3.1 What is the additional axis function?
- 15 3.2 System configuration example of additional axis function
- 17 3.3 Additional axis interface functions
- 17 3.4 Additional axis function specifications
- 19 4. Confirmation of product
- 19 4.1 Necessary products
- 20 5. Connection and Wiring
- 20 5.1 Connection of Robot CPU and servo amplifier
- 30 5.2 Synchronize the power supply of the robot controller
- 31 axes.(Example)
- 42 5.3 Installation of noise filter to power cable
- 42 5.3.1 EMC filter (recommended)
- 43 5.3.2 Line noise filters
- 44 5.4 Connection example of servo amplifier and servo motor
- 44 5.5 Installing the Servo System
- 45 6. Servo system setting
- 45 6.1 Servo amplifier setting
- 45 6.2 Parameter setting of servo amplifier
- 46 7. Setting, Operation and Command Explanation of Robot Additional Axis
- 46 7.1 Description of parameters
- 47 7.1.1 Parameter list
- 48 7.1.2 Details of parameters
- 54 7.1.3 About using the linear servo motor
- 55 7.2 Confirmation of connection
- 56 7.3 Try to use the robot additional axis
- 56 7.3.1 Turn ON the power supply
- 56 7.3.2 Move the robot additional axis
- 57 7.3.3 Set the origin
- 58 7.3.4 Create a program
- 58 7.3.5 Execute a program
- 58 7.3.6 End the operation
- 59 7.4 Operation of the Robot's Additional Axis
- 59 7.4.1 Brake release
- 59 7.4.2 Origin setting
- 59 7.4.3 Servo ON/OFF
- 60 7.4.4 Jog operation
- 60 7.4.5 Operation of position variable
- 61 7.4.6 MDI (Manual Data Input) compensation of robot additional axis
- 62 7.4.7 Operation
- 62 7.4.8 Stop
- 63 Emergency stop
- 63 7.4.9 Error resetting
- 64 7.5 Explanation of commands
- 64 7.5.1 Interpolation commands
- 65 7.5.2 Synchronous control of robot additional axis (travel axis)
- 68 7.5.3 Position variables
- 69 7.6 Example of System Configuration of the Robot's Additional Axis
- 69 7.6.1 Travel axis system
- 75 8. User Mechanism Settings, Operation, and Commands
- 75 8.1 Procedure for Setting the Parameters of the User Mechanism
- 75 8.2 Description of parameters
- 76 8.2.1 Parameter list
- 78 8.2.2 Details of parameters
- 86 8.2.3 About using the linear servo motor
- 87 8.3 Confirmation of connection
- 88 8.4 Try to use the mechanical additional axis
- 88 8.4.1 Turn ON the power supply
- 89 8.4.2 Move the user mechanism
- 90 8.4.3 Setting the Origin
- 91 8.4.4 Create a program
- 91 8.4.5 Execute a program
- 91 8.4.6 End the operation
- 92 8.5 Operation of the User Mechanism
- 92 8.5.1 Brake release
- 92 8.5.2 Origin setting
- 92 8.5.3 Servo ON/OFF
- 92 8.5.4 Jog operation
- 93 8.5.5 Operation of position variable
- 93 8.5.6 Operation
- 93 8.5.7 Stop
- 94 Emergency stop
- 94 8.5.8 Error resetting
- 95 8.6 Explanation of commands
- 95 8.6.1 Position variables
- 96 8.6.2 Commands
- 96 8.6.3 Limitation when using user mechanism
- 104 8.7 Example of System Configuration of the User Mechanism
- 104 8.7.1 Rotation table system
- 112 8.7.2 System with multiple axes
- 121 9. Design and Engineering
- 121 9.1.1 Example of connection with servo amplifier
- 122 10. Such a Case
- 123 11. Appendix
- 123 11.1 Error list