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MITSUBISHI
Mitsubishi Industrial Robot
INSTRUCTION MANUAL
ADDITIONAL AXIS FUNCTION
CR750/CR751 series controller
CRn-700 series controller
BFP-A8663-G
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
WARNING
CAUTION
CAUTION
WARNING
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
The points of the precautions given in the separate "Safety Manual" are given below.
Refer to the actual "Safety Manual" for details.
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.)
CAUTION 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.
CAUTION Always use the robot installed on a secure table. Use in an instable posture could lead to positional deviation and vibration.
CAUTION Wire the cable as far away from noise sources as possible. If placed near a noise source, positional deviation or malfunction could occur.
CAUTION 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.
CAUTION
CAUTION
CAUTION
CAUTION
CAUTION
CAUTION
CAUTION
CAUTION
CAUTION
WARNING
CAUTION
CAUTION
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 Instruction manual No.
2009-04-17 BFP-A8663
2009-05-21 BFP-A8663-A
2009-10-23 BFP-A8663-B
2010-04-12 BFP-A8663-C
2010-11-24
2011-05-09
BFP-A8663-D
BFP-A8663-E
2012-02-17 BFP-A8663-F
2012-12-04 BFP-A8663-G
Revision content
CR1D-700 、 CR1Q-700 were added to the Synchronize the power supply of the robot controller.
The EC Declaration of Conformity was changed.
(Correspond to the EMC directive; 2006/42/EC)
The new function of S/W Ver.R1 (SQ series) and S1 (SD series) was added. (It corresponded to the direct drive motor.)
The list of the servo amplifier which can be used was added.
The notice about setting up the operating range was added.
The new function of S/W Ver.R1m (SQ series) and S1m (SD series) was added. (It corresponded to the drive safety MR-J3-□BS.)
The new function of S/W Ver.R2 (SQ series) and S2 (SD series) was added.
The new function to control the linear servo motor was added.
The example of "8.6.1 Position variables" was corrected. (Error in writing)
CR750/CR751 series controllers were added.
The statement about trademark registration was added
Preface
Thank you for purchasing Mitsubishi Electric Industrial Robot.
The additional axis interface is a general-purpose servo amplifier control interface in combination with
CR750/CR751 series or CRn-700 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." or "alarm may occur"..
Please contact your nearest dealer if you find any doubtful, wrong or skipped point.
This specification is original.
All company names and production names in this document are the trademarks or registered trademarks of their respective owners.
Copyright (C) 2009-2012 MITSUBISHI ELECTRIC CORPORATION
Contents
5.2.1 Conceptual diagram of addition axis system（CR750-Q/CR751-Q, CRnQ-700 series）
5.2.2 Conceptual diagram of addition axis system（CR750-D/CR751-D, CRnD-700 series）
5.2.3 The power supply synchronization, the main circuit power supply control for addition
7.4.6 MDI (Manual Data Input) compensation of robot additional axis.............................51
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 Title
1 How to use the instruction manual
Content
This section describes how to use this document (Additional Axis Interface
User’s Manual).
This section describes the work required to build an additional axis system.
Please follow the procedure completely.
3
4
Additional axis interface
Confirmation of product
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.
6
7
8
Servo system setting
Setting, Operation and Command Explanation of Robot Additional Axis
User Mechanism Settings, Operation, and Commands
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.
9
Connection example of servo amplifier
The example of connection with servo amplifier is shown.
10 Such a Case
When the additional axis interface is used, a poor motion or error may occur. For the solving methods, refer to this chapter as necessary.
11 Appendix
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".
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 Meaning
[JOG]
If [ ] is added in the sentence as shown in the left, it means the key of the teaching pendant.
[SERVO] + [RESET]
(A) (B)
T/B
O/P
It means that (B) key is pressed with (A) key pressed.
This example means that [RESET] key is pressed with [00SERVO] pressed.
It means teaching pendant.
It means operating panel on the front of the controller (drive unit).
1
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 controller (CR750/CR751 series or CRn-700 series).
(2) Standard system
This means the system which does not use the additional axis interface, a configuration of controller and robot arm.
(3) Additional axis system
This means the system which uses the additional axis interface, a configuration of controller
(CR750/CR751 series or CRn-700 series), 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
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).
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.
….. Refer to "this manual/7.1 and 7.6".
Set the parameters of the robot controller.
Referring to the system configuration ex-
ample of "this manual/ 7.6", set them.
5. Set the parameters of the controller.
….. Refer to "this manual/8.1 and 8.2".
Set the parameters of the robot controller.
Referring to the system configuration ex-
ample of "this manual/8.7", set them.
6. Confirm the connection and setting.
….. Refer to "this manual/7.2".
Confirm the items of the check list again.
7. Set the origin.
….. Refer to "this manual/7.4.2".
Set the origin of the robot additional axis.
6. Confirm the connection and setting.
….. Refer to "this manual/8.3".
Confirm the items of the check list again.
7. Set the origin.
….. Refer to "this manual/8.5.2".
Set the origin of the mechanical additional axis.
8. Adjustment tional axis.
….. Refer to "Instruction Manual for Servo
Amplifier".
As necessary, adjust the gain of the addi-
8. Adjustment
….. Refer to "Instruction Manual for Servo
Amplifier".
As necessary, adjust the gain of the additional axis.
9. Create the program.
….. Refer to "this manual/7.3.4, 7.5 and
7.6".
Create a program and move the robot additional axis. Referring to the system con-
figuration example of "this manual/7.6",
create them.
9. Create the program.
….. Refer to "this manual/8.4.4, 8.6 and
ditional axis. Referring to the system configuration example of "this manual/
create them.
Create a program and move the robot ad-
10. Finish
3
3.Additional axis function
3. Additional axis function
This section describes the functions and specifications of the additional axis.
3.1 What is the additional axis function?
The additional axis function is an function, 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 Servo amplifier name Type
Mitsubishi Electric Corp. MELSERVO-J3 series MR-J3-*B (ABS specifications)
4
3.Additional axis function
3.2 System configuration example of additional axis function
If the function of the additional axis 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
"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 Drive unit or
Robot controller
Servomotor
<CR750/CR751 series> <CRn-700 series>
(CR751 controller)
T A TU S N UM
B E R
A (Ext.)
S V O
O N U T
S VO F F
O
S T OP
S TA R
C H A
G D IS P
U P
D O W
R ES E T
N D
E M G T O P
R EM O
V E T/
Servo amplifier
Travel axis unit
(CR750 controller)
Note) The fig of the robot arm is the vertical multi-joint type 6 axis robot's example.
Fig. 3.2.1 Travel axis system (an example)
5
3.Additional axis function
"Fig. 3.2.2 " shows such an example as the rotation table is used as the mechanical additional axis (used as the multi mechanism).
Drive unit or
Robot controller
Robot arm
Servomotor
<CR750/CR751 series> <CRn-700 series>
(CR751 controller)
S T AT U S NU
M B ER
M O D
A S VO
V O O F F
C H N G D
IS P
T A
S TO P
D OW N
R ES E
E N D
E M G.
T O P
E M O E T /
(CR750 controller)
Rotation table
Servo amplifier
Note) The fig of the robot arm is the vertical multi-joint type 6 axis robot's example.
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.
Robot arm
Drive unit or
Robot controller
<CR750/CR751 series> <CRn-700 series>
(CR751 controller)
S T AT
S N U
M O DE
A (Ext.)
S VO O
V O O
C H AN
G D I SP
T A RT
S TO P
D O W N
R ES ET
N D
E M G.S
T O
R EM O E T /B
(CR750 controller)
Note) The fig of the robot arm is the vertical multi-joint type 6 axis robot's example.
Vertical moving axis1 Servomotor 1 Vertical moving axis2 Servomotor 2
Servo amplifier 1
Servo amplifier 2
6
Rotation axis Servomotor 3 Servo amplifier 3
Fig. 3.2.3 Multiple axis system (an example)
3.Additional axis function
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-BASICV language method 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 function specifications
The additional axis function specifications are as follows.
Table 3.4.1 Additional axis function specifications
Specification of user mechanism
Number of controllable robots (mechanisms)
Number of control axes
Number of control axes
Applicable amplifier
Applicable encoder
Communication method
Unit/Controller 3
Axis/Controller
Axis
8
2
MELSERVO-J3 series
Note4)
ABS method only
Note1)
3
SSCNET (differential communication) of Mitsubishi
Program method
Control function
Path control method
Acceleration/ deceleration
MELFA-BASICV MELFA-BASICV
Synchronous interpolation control
CP control/PTP control PTP control
The trapezoidal method/acceleration/deceleration time pattern can be set.
Position control
Minimum command value mm or deg
Distance control/angle control can be selected.
Actual value control with pitch/deceleration ratio setting
0.01 or 0.001 Note2)
Max. -131072.00 to +131072.00
Note3)
Maximum motion range mm or deg
Note1) ABS means the absolute value encoder.
Note2) 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.
Note3) Limit for each operation can be set at any position. However, the free plane limit cannot be used.
The limit of movement range changes with the encoder resolution and the total reduction ratio.
", or "(10) MEJAR (joint operating range)" in "8.2.2. Details of parameters
")
Note4) Refer to " Table 3.4.2 Servo amplifier which can be used " for the details of corresponding servo amplifier. Corresponding to absolute position detection system only.
7
3.Additional axis function
Table 3.4.2 Servo amplifier which can be used
Mitsubishi
Electric Corp.
MELSERVO-J3
○： corresponding
×： Un-corresponding
Standard MR-J3-□B ○
Full close control MR-J3-□B-RJ006 ×
Corresponding to drive safety
Corresponding to linear servo
Corresponding to direct drive motor
MR-J3-□BS
MR-J3-□B-RJ004
○
○
*1
*2
MR-J3-□B-RJ080W ○*3
（ Corresponding to absolute position detection system only）
*1) It can be used in S/W Ver.R1m or later (CRnQ-700 series), and Ver.S1m or later (CRnD-700 series)
*2) It can be used in S/W Ver.R2 or later (CRnQ-700 series), and Ver.S2 or later (CRnD-700 series)
*3) It can be used in S/W Ver.R1 or later (CRnQ-700 series), and Ver.S1 or later (CRnD-700 series)
Note) In the CR750/CR751 series, there are no S/W version restrictions of the above mentioned.
8
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
5.Connection and Wiring
5. Connection and Wiring
This section explains the connection and wiring between the robot controller and the servo system.
5.1 Connection of Robot CPU and servo amplifier
Connect the robot controller and servo amplifier by the SSCNETIII cable. The connection diagram is shown in the following. Since the CN1 connector of robot CPU is used for the robot arms in case of the CR750-Q/CR751-Q series, CRnQ-700 series, it cannot be used for the addition axis.
In addition,"Fig 5.1.5 Connection of controller and servo amplifier (CR3Q-700)" is the example
which connects the two sets of servo amplifier.
10
Robot CPU
(Q172DRCPU)
Q172DRCPU
1
0
8
0
8
STOP RUN
2
CAUTION
EMI
SW
FRONT
BAT
MPG
ACFAIL
RIO
Fig 5.1.1 Connection of controller and servo amplifier (CR750-Q)
5.Connection and Wiring
ロボットCPU
(Q172DRCPU)
Q172DRCPU
0
1 8
STOP
0
SW
8
RUN
2
CAUTION
EMI
CNUSR1
(非常停止出力)
SSCNET III cable
SSCNETⅢケーブル
FRONT
BAT
MPG
ACFAIL
RIO
Fig 5.1.2 Connection of controller and servo amplifier (CR751-Q)
11
5.Connection and Wiring
EMGOUT
Robot CPU
(Q172DRCPU)
Q172DRCPU
0
1
8
STOP
0
SW
8
RUN
2
CAUTION
EMI
Servo amplifier Servo amplifier
SSCNETⅢcable
CN1A connector
SSCNETⅢcable
CN1A connector
CN1B connector
CN1B connector
Cap
CN2 connector
FRONT
BAT
MPG
ACFAIL
RIO
Magnetic contact
*It cannot communicate, if connection of CN1A and CN1B is mistaken.
Fig 5.1.3 Connection of controller and servo amplifier (CR1Q-700)
12
5.Connection and Wiring
EMGOUT
Robot CPU
(Q172DRCPU)
Q172DRCPU
0
1 8
STOP
0
SW
8
RUN
2
CAUTION
EMI
Servo amplifier Servo amplifier
SSCNETⅢcable
CN1A connector
SSCNETⅢcable
CN1A connector
CN1B connector
CN1B connector
Cap
CN2 connector
FRONT
BAT
MPG
ACFAIL
RIO Magnetic contact
*It cannot communicate, if connection of CN1A and CN1B is mistaken.
Fig 5.1.4 Connection of controller and servo amplifier (CR2Q-700)
13
5.Connection and Wiring
EMGOUT
Robot CPU
(Q172DRCPU)
Q172DRCPU
Servo amplifier Servo amplifier
0
1 8
STOP
0
SW
8
RUN
2
CAUTION
EMI
SSCNETⅢcable
CN1A connector
SSCNETⅢcable
CN1A connector
CN1B connector
CN1B connector
Cap
FRONT
BAT
MPG
ACFAIL
RIO
CN2 connector
Magnetic contact
*It cannot communicate, if connection of CN1A and CN1B is mistaken.
Fig 5.1.5 Connection of controller and servo amplifier (CR3Q-700)
14
5.Connection and Wiring
ExtOPT
Fig 5.1.6 Connection of controller and servo amplifier (CR750-D)
15
5.Connection and Wiring
ExtOPT
CNUSR1
(非常停止出力)
Fig 5.1.7 Connection of controller and servo amplifier (CR751-D)
16
5.Connection and Wiring
OPT
EMGOUT
SSCNETⅢcable
CN1A connector
OPT connector
Servo amplifier
SSCNETⅢcable
CN1A connector
CN1B connector
Servo amplifier
CN1B connector
Cap
Magnetic contact
*It cannot communicate, if connection of CN1A and CN1B is mistaken.
Fig 5.1.8 Connection of controller and servo amplifier (CR1D-700)
17
5.Connection and Wiring
OPT
EMGOUT
Servo amplifier Servo amplifier
SSCNETⅢcable
CN1A connector
OPT connector
SSCNETⅢcable
CN1A connector
CN1B connector
Magnetic contact
*It cannot communicate, if connection of CN1A and CN1B is mistaken.
Fig 5.1.9 Connection of controller and servo amplifier (CR2D-700)
CN1B connector
Cap
18
5.Connection and Wiring
EMGOUT
R700CPU
OPT2
SSCNETⅢcable
CN1A connector
OPT connector
Servo amplifier
SSCNETⅢcable
CN1A connector
CN1B connector
Servo amplifier
CN1B connector
Cap
Magnetic contact
CAUTION
*It cannot communicate, if connection of CN1A and CN1B is mistaken.
Fig 5.1.10 Connection of controller and servo amplifier (CR3D-700)
Please install the connector cap to the connector for communication which does not connect the SSCNETIII cable. There is a possibility of malfunctioning if the cap is not installed. And, if the light from the connector for communication hits upon the eyes, there is a possibility of feeling the incompatibility for the eyes.
19
5.Connection and Wiring
5.2 Synchronize the power supply of the robot controller
How to synchronize the power supply of the robot controller and the servo amplifier for addition axes is shown.
The servo-ON/OFF status of the addition axis can be synchronized with the servo-ON/OFF status of the robot controller by using the output contact (AXMC).
Please synchronize the power supply of the robot and servo amplifier by the method shown in the following.
*However, this function is available only in the addition axis function, and it is unavailable in the user mechanism's system.
(The individual user mechanism's power supply control is impossible.)
5.2.1 Conceptual diagram of addition axis system（CR750-Q/CR751-Q, CRnQ-700 series）
SSCNETⅢ cable
NV
L1/L2/L3 Servo AMP
MC1
L11/L12
T/B
ドライブ
ユニット ENC cable
5.2.2 Conceptual diagram of addition axis system（CR750-D/CR751-D, CRnD-700 series）
SSCNETⅢ cable
NV
L1/L2/L3
Servo AMP
MC1
L11/L12
ENC cable
T/B
CAUTION
Please arrange the necessary electric parts to the good position, after reading carefully of the technical data of general-purpose servo amplifier.
20
5.Connection and Wiring
5.2.3 The power supply synchronization, the main circuit power supply control for addition axes.(Example).
The following figure shows the layout drawings of the output contact (AXMC1).
When you are using an additional axis, please perform appropriate circuit connections by referring to these drawings.
1) Get the power supply for the controller from the secondary terminal of short circuit breaker (NV) built in the addition axis amplifier box.
NV MC MC1 MC2 88
NV
CNUSRコネクタ
Note1)
AXMC11
AXMC12
AXMC21
AXMC22
DC24V
コネクタ
AXMC11
AXMC12
AXMC21
AXMC22
CNUSR2
CNUSR2
20
45
19
44
注2)ロボットがアラームの発生などでサーボOFFしたとき、本出力(接点)が開放します。
<接点容量>
DC24V/10mA～100mA
Fig 5.2.1 Example of the standard circuit (CR750/CR751 series controller)
1) Get the power supply for the controller from the secondary erminal
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 MC1 MC2
Amplifier
88
NV
To the internal circuit
AXMC is outputted from the contact for internal servo power supplies.
<Robot controller>
EMGOUT
AXMC1
Note)
5A
6A
5B
6B
AXMC2
Note)
<Addition axis amplifier box>
Note) This output is opened, if the robot turns off the servo
by occurrence of alarm etc.
<Electric specification>
DC24V 10 to 500mA
Fig 5.2.2 Example of the standard circuit (CRn-700 series controller)
21
5.Connection and Wiring
<CR750-Q drive unit>
CNUSR2 connector
22
Cover fixing screw
(Two places)
Connector cover
Plug
CNUSR2
25
View A
Pin number of plug
1
Soldering
Remove connector cover
A
Connector for user wiring 50 26
3mm
Connecting cable
(AWG #30-24 (0.05mm
2
-0.2mm
))
Connection procedure
Solder the user wiring connector that accompanies the product to the corresponding pin, and connect it to the CNUSR2 connector at the back of the drive unit. For the connection cable, please use AWG #30 to 24 (0.05 to 0.2mm
2 ).
1) Loosen the 2 fixing screws on the user wiring drive unit that accompanies the product, and remove the connector cover.
2) Peel the insulation of the connecting cable to 3mm, and solder it the appropriate connector pin number.
3) After the necessary cable has been soldered, re-fix the connector cover sing the same fixing screws and make sure it is fastened securely.
4) Connect the connector to the corresponding connector (CNUSR2) on the drive unit. With pin number 1 facing to the upper right, insert firmly until you hear the connector’s latch click in to place.
This concludes the connection procedure.
Fig 5.2.3 CNUSER2 connector（CR750-Q drive unit）
5.Connection and Wiring
<CR751 drive unit>
CNUSR1/2 connector
Cover fixing screw
(Two places)
Connector cover
Plug
CNUSR1
CNUSR2
25
View A
Pin number of plug
1
Soldering
Remove connector cover
A
Connector for user wiring
50 26
3mm
Connecting cable
(AWG #30-24 (0.05mm
2
-0.2mm
2
))
Connection procedure
Solder the user wiring connector that accompanies the product to the corresponding pin, and connect it to the CNUSR1 or CNUSR2 connector at the back of the drive unit. For the connection cable, please use AWG #30 to 24 (0.05 to 0.2mm
2
).
1) Loosen the 2 fixing screws on the user wiring connector that accompanies the product, and remove the connector cover.
2) Peel the insulation of the connecting cable to 3mm, and solder it the appropriate connector pin number.
3) After the necessary cable has been soldered, re-fix the connector cover sing the same fixing screws and make sure it is fastened securely.
4) Connect the connector to the corresponding connector (CNUSR1 or CNUSR2) on the controller. With pin number 1 facing to the upper right, insert firmly until you hear the connector’s latch click in to place.
This concludes the connection procedure.
Fig 5.2.4 CNUSER1/2 connector（CR751-Q drive unit）
23
5.Connection and Wiring
24
EMGOUT
EMGOUT connector
EMGOUT2
6B
5B
4B
3B
2B
1B
Minus driver plug area
EMGOUT1
6A
5A
4A
3A
2A
1A
Electric wire plug area
AWG#24～#18
(0.2～0.75mm
2 )
Internal circuit
EMGOUT1
5A
6A
EMGOUT2
5B
6B
（Custmer） （Controller）
Type ：1-1871940-6
Fig 5.2.5 EMGOUT connector（CR1Q-700 drive unit）
Contactor control output for addition axes
(AXMC1)
Contactor control output for addition axes
(AXMC1)
5.Connection and Wiring
EMGOUT
EMGOUT connector
EMGOUT2
6B
5B
4B
3B
2B
1B
Minus driver plug area
EMGOUT1
6A
5A
4A
3A
2A
1A
Electric wire plug area
AWG#24～#18
(0.2～0.75mm
2 )
Type ：1-1871940-6
Internal circuit
EMGOUT1
5A
6A
EMGOUT2
5B
6B
（Custmer） （Controller）
Fig 5.2.6 EMGOUT connector（CR2Q-700 drive unit）
Contactor control output for addition axes
(AXMC1)
Contactor control output for addition axes
(AXMC1)
25
5.Connection and Wiring
Fig 5.2.7 EMGOUT connector（CR3Q-700 drive unit）
26
5.Connection and Wiring
<CR750-D controller>
CNUSR2 connector
Cover fixing screw
(Two places)
Connector cover
Plug
CNUSR2
25
View A
Pin number of plug
1
Soldering
Remove connector cover
A
Connector for user wiring 50 26
3mm
Connecting cable
(AWG #30-24 (0.05mm
2 -0.2mm
2 ))
Connection procedure
Solder the user wiring connector that accompanies the product to the corresponding pin, and connect it to the CNUSR2 connector at the back of the controller. For the connection cable, please use AWG #30 to 24 (0.05 to 0.2mm
2 ).
1) Loosen the 2 fixing screws on the user wiring connector that accompanies the product, and remove the connector cover.
2) Peel the insulation of the connecting cable to 3mm, and solder it the appropriate connector pin number.
3) After the necessary cable has been soldered, re-fix the connector cover sing the same fixing screws and make sure it is fastened securely.
4) Connect the connector to the corresponding connector (CNUSR2) on the controller. With pin number 1 facing to the upper right, insert firmly until you hear the connector’s latch click in to place.
This concludes the connection procedure.
Fig 5.2.8 CNUSER2 connector（CR750-D controller）
27
5.Connection and Wiring
<CR751-D controller>
CNUSR1/2 connector
Cover fixing screw
(Two places)
Connector cover
Plug
CNUSR1
CNUSR2
View A
Pin number of plug
25 1
Soldering
Remove connector cover
A
Connector for user wiring
50 26
3mm
Connecting cable
(AWG #30-24 (0.05mm
2
-0.2mm
2
))
Connection procedure
Solder the user wiring connector that accompanies the product to the corresponding pin, and connect it to the CNUSR1 or CNUSR2 connector at the back of the controller. For the connection cable, please use AWG #30 to 24 (0.05 to 0.2mm
2
).
1) Loosen the 2 fixing screws on the user wiring connector that accompanies the product, and remove the connector cover.
2) Peel the insulation of the connecting cable to 3mm, and solder it the appropriate connector pin number.
3) After the necessary cable has been soldered, re-fix the connector cover sing the same fixing screws and make sure it is fastened securely.
4) Connect the connector to the corresponding connector (CNUSR1 or CNUSR2) on the controller. With pin number 1 facing to the upper right, insert firmly until you hear the connector’s latch click in to place.
This concludes the connection procedure.
Fig 5.2.9 CNUSER1/2 connector（CR751-D controller）
28
5.Connection and Wiring
EMGOUT
EMGOUT connector
EMGOUT2
6B
5B
4B
3B
2B
1B
Minus driver plug area
EMGOUT1
6A
5A
4A
3A
2A
1A
Electric wire plug area
AWG#24～#18
(0.2～0.75mm
2 )
Type ：1-1871940-6
Internal circuit
EMGOUT1
5A
6A
EMGOUT2
5B
6B
Contactor control output for addition axes
(AXMC1)
Contactor control output for addition axes
(AXMC1)
（Custmer） （Controller）
Fig 5.2.10 EMGOUT connector（CR1D-700 controller）
29
5.Connection and Wiring
EMGOUT
EMGOUT connector
EMGOUT2
6B
EMGOUT1
6A
5B
4B
3B
2B
1B
5A
4A
3A
2A
1A
Minus driver plug area
Electric wire plug area
AWG#24～#18
(0.2～0.75mm
2 )
Internal circuit
EMGOUT1
5A
6A
EMGOUT2
5B
6B
（Custmer） （Controller）
Type ：1-1871940-6
Fig 5.2.11 EMGOUT connector（CR2D-700 controller）
Contactor control output for addition axes
(AXMC1)
Contactor control output for addition axes
(AXMC1)
30
5.Connection and Wiring
Fig 5.2.12 EMGOUT connector（CR3D-700/700M controller）
31
5.Connection and Wiring
5.3 Installation of noise filter to power cable
Install the noise filter in the power supply line of addition axis servo amplifier, and the example of connection which reduces the effect by the noise is shown.
Install the noise filter always and please use the robot safely, after confirming the details.
Note) Only the CRn-700 series controller conforms to the EMC directive.
5.3.1 EMC filter (recommended)
In case of the EMC directive of EN standard, recommend using the following filters.
There is what has the large leaking electric current in the EMC filter.
Note 1. In case of the single phase AC200 - 230V power supply, please connect the power supply to L1 and L2, and nothing should connect with L3.
In case of the single phase AC100 - 120V power supply, there is not L3.
Note 2. It is the case where a surge protector is connected.
32
5.Connection and Wiring
5.3.2 Line noise filters
This filter is effective in suppressing noises radiated from the power supply side and output side of theservo amplifier and also in suppressing high-frequency leakage current (zero-phase current) especiallywithin 0.5MHz to 5MHz band.
33
5.Connection and Wiring
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 power connector(CNP3) 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
CRnQ-700 :ToCN2 connector of robot CPU or
CRnD-700 :To OPT connector of controller
CNP3
CN2
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.
34
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
amplifier, refer to "Instruction Manual for Servo Amplifier".
Axis selection switch (CS1)
Servo Amplifier
Fig. 6.1.1 Control axis selection switch
Table 6.1.1 Control axis No. of servo
Setting value of axis selection switch (CS1)
9 to F
Content
Do not set
6.2 Parameter setting of servo amplifier
(1) The addition axis function does not support the incremental system. Please select the absolute position detection by parameter No.PA03.
(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. 14 POL motor of the servo amplifier to "0"
(CCW).
(3) 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".
(4) The addition axis function does not support full closed system amplifier. If MR-J3-*BS is used, select the "Semi closed system" in the control mode select of basic setting parameter PA01. The movement according to instructions cannot be performed if the "Full closed system" is selected incorrectly. (The initial-setting value is the "Semi closed system")
(5) When using the linear servo motor and the direct drive motor, it is necessary to use the test mode of operation of the amplifier and to do "magnetic pole position detection" in advance. And, change parameter No.PS01 to disable the magnetic pole detection after completing magnetic pole position detection. (Please refer to the instruction manual of servo amplifier for detail of the method)
35
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/ 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 be valid.
CAUTION
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) , rotation direction (AXSPOL) and encoder resolution(AXENCR).
CAUTION
Because to prevent the collision to peripheral equipment, the mechanical stopper, etc., sure set up the operating range (MEJAR) before moving the additional axis.
36
7.Setting, Operation and Command Explanation of Robot Additional Axis
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
Number of elements per axis
Default value
Explanation
AXUNUM
Number of multi mechanisms used
0 to 2 1 – 0
Be sure to set "0".
AXMENO
AXJNO
AXUNT
AXSPOL
AXACC
AXDEC
AXGRTN
AXGRTD
AXJOGTS
MEJAR
USERORG
Mechanism No. designation
Setting axis No.
Unit system
Rotation direction
Acceleration time Positive real number
Deceleration time Positive real number
Total speed ratio numerator
Total speed ratio denominator speed Positive 16
JOG smoothening time constant
Joint operating range
User designated origin
0 to 3
0 to 8
0 or 1
0 or 1
Positive integer
Positive integer
Positive
Positive real number
A real number of
-131072.00 to
+131072.00
A real number of
–80000.00 to
80000.00
16
16
16
16
16
16
16
16
16
16
16
16
8
1 (per control axis of servo)
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)
1 (Same as above)
1 (Same as above)
1 (Same as above)
2 (per axis of robot)
2 (Same as above)
0
0
0
0
0.20
0.20
1
10
2000
3000
262144
150.00
–80000.0
,
80000.0
0.00
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)
2 … Length (mm) Linear servo use
(Set up “2”, when using the linear servo)
Set the rotation direction of the motor.
0 … Forward run (CCW)
1 … 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 or
Rated speed (Unit: mm/s.) of linear motor
Maximum speed (Unit: r/min.) of motor or
Maximum speed (Unit: mm/s.) of linear motor
Encoder resolution of motor
(Unit: pulse/rev)
If it vibrates at JOG, set a larger value. (Unit: ms)
Motion 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)
37
7.Setting, Operation and Command Explanation of Robot Additional Axis
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, 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
CRnQ-700 ROBOT CPU or
CRnD-700controller
Servo amplifier Servo amplifier
Axis selection switch 1
Servo amplifier
Axis selection switch 0 Axis selection switch 7
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
38
7.Setting, Operation and Command Explanation of Robot Additional Axis
(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, 0
(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
7
8
[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 rotation axis. (Unit: degree) (Default value)
Used as the linear drive axis (Unit: mm)
Use the linear servo (Unit: mm)
0
1
2
[Example]
When the servomotor set "Control axis No. of servo" as the 1st axis is used as the linear drive axis
(Unit: mm),
AXUNT = 1, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0 (Set "1" to the 1st element.)
When linear servo is connected to the axis which set to 2nd axis as the "Control axis No. of servo"
AXUNT = 0, 2, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0 (Set "2" to the 2nd element.)
39
7.Setting, Operation and Command Explanation of Robot Additional Axis
(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
0
Reverse run (CW) as the value of the joint coordinate is increased 1
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.)
40
7.Setting, Operation and Command Explanation of Robot Additional Axis
(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". When using the linear servo motor, the setting methods differ. Please refer to “this
manual/7.1.3 About using the linear servo motor”.
[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.
Accordingly, since the motor speed when the load is moved 1mm becomes 8/25 rotation, the total speed ratio becomes as follows.
5 × 5/8 = 25/8 [mm/rev]
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
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 a
Gear b
Gear ratio: 1/10
Servomotor
Fig. 7.1.3 Inside of rotation table
41
7.Setting, Operation and Command Explanation of Robot Additional Axis
(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). When using the linear servo
[Example]
When the properties of the servomotor set "Control axis No. of servo" as the 1st axis are as follows.
Rated speed speed resolution
3000 (r/min)
AXMREV = 3000, 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 = 131072, 8192, 8192, 8192, 8192, 8192, 8192, 8192, 8192, 8192, 8192, 8192, 8192,
8192,8192, 8192
(Set "131072" 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.)
42
7.Setting, Operation and Command Explanation of Robot Additional Axis
(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 -131072.00 to +131072.00.
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,
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.)
<Note>
Cannot move to the position exceeding operating range as following. Please set up the operating range (MEJAR) in the range which satisfies the following formula sure. Take care since the operating range changes with set-up values of the encoder resolution setup (AXENCR) and the total reduction ratio setup (AXGRTN, AXGRTD)
Operatingrange
Linear axis
(mm)
2 31
AXENCR
50
AXGRTN
AXGRTD
≦ x ≦
2 31
AXENCR
50
AXGRTN
AXGRTD
Rotation axis
(deg)
360
2 31
AXENCR
50
AXGRTN
AXGRTD
≦ x ≦ 360
2 31
AXENCR
50
AXGRTN
AXGRTD
( x : The position which robot moves (coordinate value))
<Example>
If the axis is the rotation type, and if the encoder resolution and the total reduction ratio are the following, the operating range (setting value of MEJAR) is -29311.20 (deg) to -29311.20 (deg).
<Encoder resolution, the total reduction ratio>
AXENCR=262144
AXGRTN=1
AXGRTD=100
(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.)
43
7.Setting, Operation and Command Explanation of Robot Additional Axis
7.1.3 About using the linear servo motor
When using the linear servo motor, set the total speed ratio parameter (AXGRTN/AXGRTD), the encoder resolution parameter (AXENCR), and the rated speed parameter (AXMREV/AXJMX) as follows.
(1) Resolution related parameter (AXGRTN/AXGRTD/AXENCR) setting.
Set up the linear servo motor moving distance per one pulse of linear encoder as follows.
Moving distance per one pulse (mm)
AXGRTN
AXGRTD
1
AXENCR
[Example]
When the resolution of linear servo motor which set the "Control axis No. of servo" to the 1st axis is the following.
Linear encoder resolution: 0.05μm
Moving distance per one pulse (mm)
0.05
10 -3 [mm]
1 [pulse]
AXGRTN
AXGRTD
1
AXENCR
1
20000
1
20000
[Example of set value]
ACGRTN = 1
AXGRTD = 1
AXENCR = 20000
Therefore, the parameter set value is as follows.
AXGRTN = (1, 1，1，1，1，1，1，1，1，1，1，1，1，1，1，1) (Set the 1st element to 1.)
AXGRTD = (1, 10, 10, 10, 10, 10, 10, 10, 10, 10, 10, 10, 10, 10, 10, 10)
(Set the 1st element to 1.)
AXENCR = (20000，262144，262144，262144，262144，262144，262144，262144，
262144，262144，262144，262144，262144，262144，262144，262144)
(Set the 1st element to 20000. )
(2) Speed related parameter (AXMREV/ AXJMX) setting
Set the rated speed and maximum speed as the parameter AXMREV (rated speed) and AXJMX
(maximum speed)
(Unit: mm/s)
<Note>
When using the linear servo motor, set the set value of parameter AXUNT (unit system) to "2."
(Refer to “this manual/7.1.2 Details of parameters
[Example]
When the specification of linear servo motor which set the "Control-axis-No.-of-servo" to 1st axis are the following.
Rated speed 1800 (mm/s)
Maximum speed 2000 (mm/s)
AXMREV = (800，2000，2000，2000，2000，2000，2000，2000，2000，2000，2000，2000，2000，
2000，2000，2000）
AXJMX = (2000，3000，3000，3000，3000，3000，3000，3000，3000，3000，3000，3000，3000，
3000，3000，3000）
44
7.Setting, Operation and Command Explanation of Robot Additional Axis
7.2 Confirmation of connection
Before use, confirm the following items again.
Confirmation of connection
1 Is the teaching pendant securely fixed?
2
3
Is the exclusive communication cable properly connected between the controller and 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".)
4
5
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".)
6
7
8
9
10
11
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 PA03 ARS of the servo amplifier set to "0001"?
(Refer to "Instruction Manual for Servo Amplifier".)
12
Is the basic parameter PA14 POL of the servo amplifier set to "0"?
(Refer to "Instruction Manual for Servo Amplifier".)
13 Is the power supply of the controller turned OFF once after the parameters are set?
14 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.
45
7.Setting, Operation and Command Explanation of Robot Additional Axis
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"
Move the robot additional axis.
….. Refer to "this manual/7.3.2Move the robot additional axis"
Set the origin.
….. Refer to "this manual/7.3.3Set the origin"
Create the program.
Execute the program.
End
….. 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"
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.
CAUTION
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,AXSPOL and AXENCR.
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.
CAUTION
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.
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 controller (drive unit) mode to
"MANUAL".
(2) Turn the "ENABLE/DISABLE" switch of the teaching pendant to "ENABLE".
(3) afterward, operate as follows.
46
7.Setting, Operation and Command Explanation of Robot Additional Axis
Table 7.3.1 Robot additional axis, jog operation
N
O
Teaching pendant screen display
Work details
1
2
3
4
<MENU>
1.FILE/EDIT 2.RUN
3.PARAM. 4.ORIGIN/BRK
5.SET/INIT.
123 CLOSE
<CURRENT> JOINT 10% P1
J1: +0.00 J5: +0.00
J2: +0.00 J6: +0.00
J3: +90.00 J7:********
J4: +0.00 J8:********
XYZ TOOL 123 3-XYZ CYLNDR ⇒
<CURRENT> ADD_AX 10% P1
J1: +0.00 J5: +0.00
J2: +0.00 J6: +0.00
J3: +90.00 J7:********
J4: +0.00 J8:********
XYZ XYZ 123 TOOL 3-XYZ ⇒
<CURRENT> ADD_AX 40% P1
J1: +0.00 J5: +0.00
J2: +0.00 J6: +0.00
J3: +90.00 J7:********
J4: +0.00 J8:********
XYZ XYZ 123 TOOL 3-XYZ ⇒
Pressing the Enable switch (3-position enable switch) on the rear of the teaching pendant, press [SERVO] key and turn ON the servo.Keeping the Enable switch (3-position enable switch) pressed, proceed with the following operation.If the Enable switch (3-position enable switch) is released on the way, the servo will be turned OFF. In this case, repeat this process.
Press the key of [JOG], then the jog operation screen will be displayed.
Press the key of [FUNCTION], and display the "addition axis"at the screen lowest stage And press the key of [F1], the jog mode turn into addition axis jog mode (3 screens).
［ +X(J1)］key : The additional axis 1 moves in the + direction.
［ -X(J1)］key : The additional axis 1 moves in the - direction.
［ +Y(J2)］key : The additional axis 2 moves in the + direction.
［ -Y(J2)］key : The additional axis 2 moves in the - direction.
Release the axis designation key, and the robot will stop.
[OVRD↑] key increases the jog speed. [OVRD↓ ] key decreases the jog speed. The percentage display of the speed is different depending on each model.
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
CAUTION
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 ".
47
7.Setting, Operation and Command Explanation of Robot Additional Axis
7.3.4 Create a program
As an example, a program to move the robot additional axis is created.
MELFA_BASICV
10 MOV P1
20 MOV P2
30 END
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,
Note) When your controller has no operation panel, use the dedicated external signals corresponding to the following step to operate the robot.
(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 "AUTOMATIC".
(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.
Note) When your controller has no operation panel, use the dedicated external signals corresponding to the following step to operate the robot.
(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 " AUTOMATIC ".
(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.
48
7.Setting, Operation and Command Explanation of Robot Additional Axis
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.
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.
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
CAUTION
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".
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".
49
7.Setting, Operation and Command Explanation of Robot Additional Axis
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 pa-
rameter setting method, refer to "this manual/7.1Description of parameters".
<CURRENT> ADD_AX 40% P1 Display of current jog mode and jog speed
J1: +0.00 J5: +0.00
J2: +0.00 J6: +0.00
J3: +90.00 J7:********
Display (additional axis 1) of current position
J4: +0.00 J8:********
Display (additional axis 2) of current position
XYZ XYZ 123 TOOL 3-XYZ ⇒
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 [OVRD (upper arrow)] (jog speed UP) or
[OVRD(lower arrow)] (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.
(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 [F2](Teach)key,and [F1] (Yes) key of confirmation screen.
For details, refer to "Instruction Manual/ Detailed explanations of functions and operations".
50
7.Setting, Operation and Command Explanation of Robot Additional Axis
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
<CURRENT> ADD_AX 40% P1
J1: +0.00 J5: +0.00
J2: +0.00 J6: +0.00
J3: +90.00 J7:********
J4: +0.00 J8:********
Position No. which registers the position
The coordinate value to register
XYZ XYZ 123 TOOL 3-XYZ ⇒
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
Teaching pendant Work details
NO screen
１
<PROGRAM> 1
1 Mov P1
2 Mov P2
3 Mov P3
4 Mov P4
Press the function key corresponding to "Cange"after selecting the line which used P2 of position variable, display the position edit screen.
The P2 of position variable is called and display the current registration data.
２
DIRECT CHANGE 123 CLOSE ⇒
<CURRENT> ADD_AX 100% P2
X: +600.00 A: +180.00
Y: +0.00 B: +0.00
Z: +1830.00 C: +180.00
L1: +100.00 L2: +200.00
FL1: 00000007 FL2: 00000000
XYZ XYZ 123 TOOL 3-XYZ ⇒
３
<CURRENT> ADD_AX 100% P2
X: +600.00 A: +180.00
Y: +0.00 B: +0.00
Z: +1830.00 C: +180.00
L1: +100.00 L2: +200.00
FL1: 00000007 FL2: 00000000
XYZ XYZ 123 TOOL 3-XYZ ⇒
４
<CURRENT> ADD_AX 100% P2
X: +600.00 A: +180.00
Y: +0.00 B: +0.00
Z: +1830.00 C: +180.00
L1: +50.00 L2: +200.00
FL1: 00000007 FL2: 00000000
XYZ XYZ 123 TOOL 3-XYZ ⇒
[Explanation]
Press the [ ↓ ] key three times, move cusor to additional axis 1.
Long press the [CLEAR] key, and delete additional axis 1.
Press the [ 5 ], [ 0 ], [EXE] key. Additional axis 1 is set to “+50”.
(1) The cursor can be moved with [arrow] keys.
(2) If it is improperly input, press [CLEAR] to delete the character.
51
7.Setting, Operation and Command Explanation of Robot Additional Axis
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".
CAUTION
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).
CAUTION
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.
Robot
Movement in the jog mode
P2 P1
Interruption
Robot
It starts here.
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".
52
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) Press [EMG.STOP] on the operation panel on the front of the robot controller.
(2) Press [EMG.STOP] key of the teaching pendant.
(3) Emergency stop with the external emergency stop terminal on the rear of the robot controller.
(4) 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".
53
7.Setting, Operation and Command Explanation of Robot Additional Axis
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 "
Interpolation method
Joint interpolation
(Mov)
Linear interpolation
(Mvs)
Circular interpolation
(Mvr, Mvr2, Mvr3)
Table 7.5.1 Robot additional axis motion during each interpolation
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 Position of P1
Position of
P2
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.)
is desired to produce an accurate circle by simultaneously moving the robot arm and additional axis.
Position of P3
Transit point (P2')
Position of P3
Position of P3 excluding the travel axis data
Position of P1
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 P2 excluding the travel axis data
Position of P1
Position of
P2
Position of P3
Position of P3 excluding the travel axis data
Current position
54
7.Setting, Operation and Command Explanation of Robot Additional Axis
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 ap-
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. 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.
55
7.Setting, Operation and Command Explanation of Robot Additional Axis
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".
Language method
MELFA-BASICV
Table 7.5.3 Applicable commands
Applicable commands
Mvr, Mvr2, Mvr3, Mvs (Mvc is not applicable since the start point and end point are the same.)
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-BASICV in the configuration (travel axis is 8th axis) as shown in "Fig. 3.5.2-1 Example of circular interpolation",
1 P1 = (200, 500, 400, 0, 0, 0, 0, 1000) (7, 0)
2 P2 = (200, 300, 800, 0, 0, 0, 0, 800) (7, 0)
3 P3 = (200, 100, 400, 0, 0, 0, 0, 600) (7, 0)
4 Mvr P1, P2, P3
5 End
Move in a semicircle with a radius of 400mm at the posture center of (200, 300, 400, 0, 0, 0, 0, 800).
56
7.Setting, Operation and Command Explanation of Robot Additional Axis
[Example] Circular pallet
When the circular pallet function 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, 3
Plt 1, 4
Plt 1,1 = (200,500,400,0,0,0,0,1000)
Plt 1,2 = (200,300+200 sqrt(3)/2 ,600,0,0,0,0,800+200sqrt(3)/2) Plt 1, 2
Plt 1,3 = (200,400,400+400 sqrt(3)/2 ,0,0,0,0,900)
Plt 1, 1
Plt 1,4 = (200,300,800,0,0,0,0,800)
In order to make this function valid, it is necessary to set "Table 7.5.4 Parameter list of synchronous control".
Parameter name
AXSYNC
AXDIR
Table 7.5.4 Parameter list of synchronous control
Content
Range of settable value
Default value Explanation
Additional axis synchronous control axis
Synchronous direction of additional axis
0, 7, 8
Real number
0
0.0, 0.0, 0.0
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.
Conversion from the coordinate system in which the travel axis + direction is used as X axis to the robot coordinate. From the 1st 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.
57
7.Setting, Operation and Command Explanation of Robot Additional Axis
7.5.3 Position variables
(1) The position of the robot additional axis is designated as follows.
[Example]
A value including the position of the additional axis to the position variable P1 is substituted at the program line No. 1 as described below.
1 P1 = (100, 50, 300, 180, 0, 180, 500, –300) (7, 0)
Additional axis 1 (7th axis)
Additional axis 2 (8th axis)
(2) The element data 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. 2, the value of the position of the additional axis 1 of the position variable P3 is changed as described below.
2 P3. L1 = 50
2 P3. L1 = Rad (50)
(500mm if the additional axis 1 is a direct moving axis) or
(50deg if the additional axis 1 is a rotation axis)
(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
The tion. element data of the additional axis is processed in the addi-
Position variable Position variable
The element traction. data of the additional axis is processed in the sub-
Value variable × ( ) Position variable 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.
58
7.Setting, Operation and Command Explanation of Robot Additional Axis
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 Drive unit or
Robot controller
Servomotor
<CR750/CR751 series> <CRn-700 series >
(CR751 controller )
S T AT U S NU
M B p.) A S V O
S VO O
F F
C H AN
G D IS
E M G.
T O P
T A R
S TO P
R ES E
N D
R EM O
E T /
Servo amplifier
Travel axis unit
(CR750 controller )
Note) The fig of the robot arm is the vertical multi-joint type 6 axis robot's example.
Fig. 7.6.1 Travel axis system (an example)
Robot arm
Table 7.6.1 Structural equipment
Vertical 6-axis robot
Robot controller
Servo amplifier
CRn-700 series controller
Prepared by the customer.
Servo motor
Axis number of robot
Prepared by the customer.
Travel axis unit Manufactured and prepared by customer
Table 7.6.2 Travel axis specification
Control axis number of servo 1st
Additional axis1(7th axis）
Unit of additional axis mm (Direct moving axis)
Rotation direction of additional axis Forward run (CCW)
Acceleration/deceleration of the additional axis
0.4 seconds per each
Total speed ratio of additional axis 2/37 (Robot's additional axis displacement of 2/37 mm per motor rotation)
Rated speed
Maximum speed
Encoder resolution
Operating range
3000 (rpm)
4000 (rpm)
262144 (pulse/rev)
-2000～+3000 (mm)
Origin designated by user 0mm (same as the default value)
59
7.Setting, Operation and Command Explanation of Robot Additional Axis
Connecting devices
Devices are connected as follows.
(1) Connect servo amplifier (CN1A connector) with the robot controller by the SSCNET cable. In case of the CR750-Q/CR751-Q series and CRnQ-700 series controller, connect with the
CN2 connector of robot CPU, and, in case of the CR750-D/CR751-D series controller, the robot controller side connects with ExtOPT connector. And CRnD-700 series controller, the
robot controller side connects with the OPT connector.（Refer to “5.1 Connection of Robot
(3) Connect the servo amplifier and the servo motor.
Servo amplifier
Controller
SSCNET III cable
To CN1A connector
・CR750-Q/CR751-Q series and CRnQ-700 series:
Connect with CN2 connector of the robot CPU.
・CRnD-700 series:
Connect with OPT connector of the controller.
・CR750-D series:
Connect with ExtOPT connector of the controller
へ
To CN1B connector cap
Fig. 7.6.2 Connection of controller and servo amplifier
CAUTION
Please install the connector cap to the connector for communication which does not connect the SSCNETIII cable. There is a possibility of malfunctioning if the cap is not installed. And, if the light from the connector for communication hits upon the eyes, there is a possibility of feeling the incompatibility for the eyes.
Setting the servo amplifier parameters
Set the servo amplifier parameters by refer to "6.2Parameter setting of servo amplifier."
60
7.Setting, Operation and Command Explanation of Robot Additional Axis
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".
Parameter name changed
Table 7.6.3 Setting the travel axis system parameters
Before/after change
Value of parameter
AXUNUM
AXMENO
AXJNO
AXUNT
AXSPOL
AXACC
AXDEC
AXGRTN
AXGRTD
AXMREV
AXJMX
AXENCR
MEJAR
(Mechanism
No.1)
USERORG
(Mechanism
No.1)
Before 0
After 0
Before 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0
After 1, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0
Before
After
Before
After
Before
After
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
Before
After
Before
After
Before
After
Before
After
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
Before
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
After
Before
After
Before
After
Before
After
Before
After
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
262144, 262144, 262144, 262144, 262144, 262144, 262144, 262144, 262144,
262144, 262144, 262144, 262144, 262144, 262144, 262144
262144, 262144, 262144, 262144, 262144, 262144, 262144, 262144, 262144,
262144, 262144, 262144, 262144, 262144, 262144, 262144
-?, ?, -?, ?, -?, ?, -?, ?, -?, ?, -?, ?, -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
61
7.Setting, Operation and Command Explanation of Robot Additional Axis
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
Z＋ direction
Robot arm
Travel axis+ direction
<2>
Y＋ direction
X＋ direction
<1>
Station A
Flow of work
Station B
W ork placement
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 Explanation
1 Operation program of standard robots
62
7.Setting, Operation and Command Explanation of Robot Additional Axis
(3) Input/Output signal
The general I/O signals to be used are as follows
General purpose input/output name
Signal H/L
General purpose input
10080
H (1)
L (0)
Explanation
Transport of works from the external location to station A has been complete.
No work in station A
General purpose input/output name
Signal H/L
Explanation
General purpose output
10080
H (1)
L (0)
Works are full in station B (work table change request)
Transporting a work to station B
(4) Position variable
The position data is as follows
PBEDA
Travel axis unit
PSF
PBST
PA
Station B
PBEDB
Mechanism name Position variable name
Robot arm
PA
PBST
PBEDA
PBEDB
Station A
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)
63
7.Setting, Operation and Command Explanation of Robot Additional Axis
(5) Procedure up to program execution
Procedure 1 : Program creation
<1>Program of mechanism number 1 (Program name:1)
1 Def Plt 1,PBST,PBEDA,PBEDB,,4,3,2 ' Definition of palette number 1
2 Mov PSF
3 HOpen 1
4 M1=1
5 *W1
' Move to safe position
' Open the hand1
' M1 is used for counter
6 If M_In(11)=0 Then GoTo *W1
7 M_Out(11)=0
8 *LOOP
9 Mov PA,-50
' Waits for the transport of a work
' Transporting a work
10 Mvs PA
11 HClose 1
12 Dly 0.5
13 Mvs PA,-50
' 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
14 PB=(Plt 1,M1)
15 Mov PB,-50
16 Mvs PB
17 HOpen 1
18 Dly 0.5
19 Mvs PB,-50
20 M1=M1+1
21 If M1<=12 Then *LOOP
22 M_Out(11)=1
23 End
' 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 Default value Setting value
AXSYNC 0 7
AXDIR 0.0, 0.0, 0.0 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.
64
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 H7613 ("Turn the power off and on once") occurs. However, this error occurs only when the number of mechanisms is increased.
(3) If error H7613 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.
CAUTION
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) , rotation direction (AXSPOL) and endoder resolution(AXENCR).
CAUTION
Because to prevent the collision to peripheral equipment, the mechanical stopper, etc., sure set up the operating range (MEJAR) before moving the additional axis.
65
8.User Mechanism Settings, Operation, and Commands
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
Number of elements
Number of elements per axis
Default value
Explanation
AXUNUM
AXMENO
AXJNO
AXUNT
AXGRTN
AXGRTD
AXENCR
AXJOGTS
MEJAR
USERORG
Number of multi mechanisms used
Mechanism No. designation
Setting axis No.
Unit system
AXSPOL Rotation direction
0 to 2
0 to 3
0 to 8
0 or 1
0 or 1 time
Positive real number time
Positive real number
Total speed ratio numerator
Total speed ratio denominator
Positive integer
Positive integer
Encoder resolution
JOG smoothening time constant
Positive integer
Positive real number
Joint operating range
User designated origin
A real number of
-131072.00 to
+131072.00
A real number of
–80000.00 to
80000.00
1
16
16
16
16
16
16
16
16
16
16
16
16
16
8
–
1 (per control axis of servo)
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)
1 (Same as above)
1 (Same as above)
1 (Same as above)
2 (per axis of robot)
2 (Same as above)
0
0
0
0
0
0.20
0.20
1
10
2000
3000
262144
150.00
–80000.0,
80000.0
0.00
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)
2 … Length (mm) Linear servo use
(Set up “2”, when using the linear servo)
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 or
Rated speed (Unit: mm/s.) of linear motor
Maximum speed (Unit: r/min.) of motor or
Maximum speed (Unit: mm/s.) of linear 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)
66
Parameter name
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
A real number of
–80000.00 to
80000.00
A real number of
–80000.00 to
80000.00
0 to 3
Number of elements
8
8
1
Number of elements per axis
2 (Same as above)
2 (Same as above)
---
0 to 2
-1 to 255
1
2
8.User Mechanism Settings, Operation, and Commands
---
---
Default value
XYZ=0
ABC=-360
XYZ=0
ABC=360
0
Explanation
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
0
-1,-1
Specify the behavior upon entering the area.
Disable/signal output/error: 0/1/2
Define the number of the signal that outputs the status.
67
8.User Mechanism Settings, Operation, and Commands
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
CRnQ-700Robot CPU or
CRnD-700 controller
Servo amplifier Servo amplifier Servo amplifier
68
Axis selection switch 0
Servo control axis No. 1st axis
Axis selection switch 1
Servo control axis No. 2nd axis
Axis selection switch 7
Servo control axis No. 8th axis
Fig. 8.2.1 Control No. and parameter element of servo
8.User Mechanism Settings, Operation, and Commands
(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.
0
1
Two additional axes are used as the multi mechanisms.
2
(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.
0
1
2
3
[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 AX-
MENO 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
1
2
3
[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.)
69
8.User Mechanism Settings, Operation, and Commands
(4) AXUNT (unit system)
Regarding each axis, this parameter sets the unit system of the servomotor, which can be used.
Used as the rotation axis. (Unit: degree) (Default value) 0
Used as the linear drive axis (Unit: mm)
Use the linear servo (Unit: mm)
1
2
[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.)
When linear servo is connected to the axis which set to 2nd axis as the "Control axis No. of servo"
AXUNT = 0, 2, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0 (Set "2" to the 2nd 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
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.)
70
8.User Mechanism Settings, Operation, and Commands
(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". When using the linear servo motor, the setting methods differ. Please refer to “this
manual/8.2.3 About using the linear servo motor”.
[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 ratio: 5/8
Ball screw lead: 5mm/rev
Gear a
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 a
Gear b
Gear ratio: 1/10
Servomotor
Fig. 8.2.3 Inside of rotation table
71
8.User Mechanism Settings, Operation, and Commands
(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). When using the linear servo
[Example]
When the properties of the servomotor set "Control axis No. of servo" as the 1st axis are as follows.
Rated speed
Maximum speed
3000 (r/min)
(r/min)
AXMREV = 3000, 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
(Set "131072" to the 1st element.)
AXENCR = 131072, 8192, 8192, 8192, 8192, 8192, 8192, 8192, 8192, 8192, 8192, 8192, 8192,
8192, 8192, 8192
(Set "131072" 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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8.User Mechanism Settings, Operation, and Commands
(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 -131072.00 to +131072.00. 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. 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
(Set –2000.00 at the 1st element and 3000.00 at the 2nd element.)
<Note>
Cannot move to the position exceeding operating range as following. Please set up the operating range (MEJAR) in the range which satisfies the following formula sure. Take care since the operating range changes with set-up values of the encoder resolution setup (AXENCR) and the total reduction ratio setup (AXGRTN, AXGRTD)
Operatingrange
Linear axis
(mm)
2 31
AXENCR
50
AXGRTN
AXGRTD
≦ x ≦
2 31
AXENCR
50
AXGRTN
AXGRTD
Rotation axis
(deg)
360
2 31
AXENCR
50
AXGRTN
AXGRTD
≦ x ≦ 360
2 31
AXENCR
50
AXGRTN
AXGRTD
( x : The position which robot moves (coordinate value))
<Example>
If the axis is the rotation type, and if the encoder resolution and the total reduction ratio are the following, the operating range (setting value of MEJAR) is -29311.20 (deg) to -29311.20 (deg).
<Encoder resolution, the total reduction ratio>
AXENCR=262144
AXGRTN=1
AXGRTD=100
(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
-131072.00 to +131072.00, 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.)
CAUTION
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.
73
8.User Mechanism Settings, Operation, and Commands
(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 1st axis
Servo motor 4 Servo amplifier 4
Vertical moving axis 2
2nd axis
Servo motor 5 Servo amplifier 5
3rd axis
Rotation axis
Servo motor 6 Servo amplifier 6
To output the output number 10080 when the first axis is working in the range 1, the output number
10081 when the second axis is working in the range 2, and the output number 10082 when the third axis is working in the range 3, set the parameters as follows.
Xs (mm) Xe (mm)
-2000 (mm)
Range 1
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
-2000 (mm)
Ys (mm)
Range 2
Operating range
Ye (mm)
3000 (mm)
Zs (degree) Range 3 Ze (degree)
0 degree
-160 (degree) -160 (degree)
74
8.User Mechanism Settings, Operation, and Commands
Parameter name
Meaning of the value
AREA1P1 Position data for the first point: X,Y,Z
Unit: degree or mm
AREA1P2 Position data for the second point: X,Y,Z
Unit: degree or mm
AREA1ME Target mechanism number. In this case the value is 2.
AREA1AT 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 US-
RAREA will turn ON.
Error: An error is generated when entering the area.
AREA2P1 Position data for the first point: X,Y,Z
Unit: degree or mm
AREA2P2 Position data for the second point: X,Y,Z
Unit: degree or mm
AREA2ME Target mechanism number. In this case the value is 2.
AREA2AT 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 US-
RAREA will turn ON.
Error: An error is generated when entering the area.
AREA3P1 Position data for the first point: X,Y,Z
Unit: degree or mm
AREA3P2 Position data for the second point: X,Y,Z
Unit: degree or mm
AREA3ME Target mechanism number. In this case the value is 2.
AREA3AT 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 US-
RAREA will turn ON.
2
1
-10000, -10000, Zs,-360,-360,
-360,0,0
10000,10000,Ze,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
-10000,Ys,-360,-360,-360,-360,0,0
10000,Ye,360,360,360,360,0,0
USRAREA
Error: An error is generated when entering the area.
Define the number of the signal that outputs the status.
Output signal: starting number, end number
10080,10082
(Information on whether it is within
AREA1* is output to the signal
100080, information on whether it is within AREA2* is output to the signal 10081, and information on whether it is within AREA3* is output to the signal 10082.)
*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.
75
8.User Mechanism Settings, Operation, and Commands
8.2.3 About using the linear servo motor
When using the linear servo motor, set the total speed ratio parameter (AXGRTN/AXGRTD), the encoder resolution parameter (AXENCR), and the rated speed parameter (AXMREV/AXJMX) as follows.
(3) Resolution related parameter (AXGRTN/AXGRTD/AXENCR) setting.
Set up the linear servo motor moving distance per one pulse of linear encoder as follows.
Moving distance per one pulse (mm)
AXGRTN
AXGRTD
1
AXENCR
[Example]
When the resolution of linear servo motor which set the "Control axis No. of servo" to the 1st axis is the following.
Linear encoder resolution: 0.05μm
Moving distance per one pulse (mm)
0.05
10 -3 [mm]
1 [pulse]
AXGRTN
AXGRTD
1
AXENCR
1
20000
1
20000
[Example of set value]
ACGRTN = 1
AXGRTD = 1
AXENCR = 20000
Therefore, the parameter set value is as follows.
AXGRTN = (1, 1，1，1，1，1，1，1，1，1，1，1，1，1，1，1) (Set the 1st element to 1.)
AXGRTD = (1, 10, 10, 10, 10, 10, 10, 10, 10, 10, 10, 10, 10, 10, 10, 10)
(Set the 1st element to 1.)
AXENCR = (20000，262144，262144，262144，262144，262144，262144，262144，
262144，262144，262144，262144，262144，262144，262144，262144)
(Set the 1st element to 20000. )
(4) Speed related parameter (AXMREV/ AXJMX) setting
Set the rated speed and maximum speed as the parameter AXMREV (rated speed) and AXJMX
(maximum speed)
(Unit: mm/s)
<Note>
When using the linear servo motor, set the set value of parameter AXUNT (unit system) to "2."
(Refer to “this manual/8.2.2 Details of parameters
[Example]
When the specification of linear servo motor which set the "Control-axis-No.-of-servo" to 1st axis are the following.
Rated speed 1800 (mm/s)
Maximum speed 2000 (mm/s)
AXMREV = (800，2000，2000，2000，2000，2000，2000，2000，2000，2000，2000，2000，2000，
2000，2000，2000）
AXJMX = (2000，3000，3000，3000，3000，3000，3000，3000，3000，3000，3000，3000，3000，
3000，3000，3000）
76
8.User Mechanism Settings, Operation, and Commands
8.3 Confirmation of connection
Before use, confirm the following items again.
Confirmation of connection
1 Is the teaching pendant securely fixed?
2
3
Is the exclusive communication cable properly connected between the controller and 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".)
4
5
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".)
6
7
8
9
10
11
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 PA03 ABS of the servo amplifier set to "0001"?
(Refer to "Instruction Manual for Servo Amplifier".)
12
Is the basic parameter PA14 POL of the servo amplifier set to "0"?
(Refer to "Instruction Manual for Servo Amplifier".)
13 Is the power supply of the controller turned OFF once after the parameters are set?
14 Is the axis selection switch (SW1) of the servo amplifier properly set?
After the preparation is completed, turn OFF the power supply of the additional axis system.
77
8.User Mechanism Settings, Operation, and Commands
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"
Move the user mechanism.
Set the origin.
Create the program.
Execute the program.
End
….. 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"
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.
CAUTION
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) , rotation direction (AXSPOL) and endoder resolution(AXENCR).
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.
CAUTION
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.
78
8.User Mechanism Settings, Operation, and Commands
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) Set the controller (drive unit) mode to "MANUAL".
(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
N Teaching pendant Work details
O screen display
1
2
<MECH SELECT>
1.RV-12SQ
2.USER
3.USER
123 CLOSE ⇒
Example: The robot's type is
RV-12SQ
Press [EXE] key to display screen 2.
Press [2] key to select USER of the mechanism No.2.
3
4
<MENU>
1.FILE/EDIT 2.RUN
3.PARAM. 4.ORIGIN/BRK
5.SET/INIT.
123 CLOSE
<CURRENT> JOINT 10% M2 TO
J1: **** :
J2: **** :
J3: **** :
: :
XYZ TOOL JOG 3-XYZ CYLNDR ⇒
Pressing the Enable switch (3-position enable switch) on the rear of the teaching pendant, press [SERVO] key and turn ON the servo.Keeping the Enable switch (3-position enable switch) pressed, proceed with the following operation.If the Enable switch (3-position enable switch) is released on the way, the servo will be turned OFF. In this case, repeat this process.
Press the key of [JOG], and the jog screen will be displayed .
Use the key of [FUNCTION] (change of the jog mode menu), and press the key of [F1] to [F4], and select the "joint" jog mode.
5
<CURRENT> JOINT 10% M2 TO
J1: **** :
J2: **** :
J3: **** :
: :
XYZ TOOL JOG 3-XYZ CYLNDR ⇒
[+X(J1)] key : The axis 1 moves in the + direction.
[-X(J1)] key : The axis 1 moves in the - direction.
[+Y(J2)] key : The axis 2 moves in the + direction.
[-Y(J2)] key : The axis 2 moves in the - direction.
[+Z(J3)] key : The axis 3 moves in the + direction.
[-Z(J3)] key : The axis 3 moves in the - direction.
Release the axis designation key, and the robot will stop.
6
<CURRENT> JOINT 40% M2 TO
[OVRD ↑] key increases the jog speed.
J1: **** :
J2: **** :
J3: **** :
: :
[OVRD ↓] key decreases the jog speed.
The percentage display of the speed is different depending on each
XYZ TOOL JOG 3-XYZ CYLNDR model.
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.
79
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 [MANUAL].
(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
N
O
Teaching pendant
screen display
Work details
1
<MECH SELECT>
1.RV-12SQ
2.USER
3.USER
2
123 CLOSE ⇒
Example: The robot's type is
RV-12SQ
Press [EXE] key to display screen 2.
Press [2] key to select USER of the mechanism No.2.
<MENU>
Press the [4] key to select “4.ORIGIN/BRK”.
3
1.FILE/EDIT 2.RUN
3.PARAM. 4.ORIGIN/BRK
5.SET/INIT.
123 CLOSE
<ORIGIN/BRAKE>
1.ORIGIN 2.BRAKE
Press the [1] key to select “1.ORIGIN”.
4
123 CLOSE
5
<ORIGIN>
1.DATA 2.MECH
3.TOOL 4.ABS
5.USER
Press the [5] key to select “5.USER”.
6
123
<ORIGIN> USER
<ORIGIN> USER
CHANGE TO ORIGIN. OK?
CLOSE
Press the [↓] key, enter “1” in the axis to set the origin with axis specification, and press the [EXE] key.
Press the [F1] (Yes) key to perform origin setting.
7
J1:( 1 ) J2:(1) J3:(1)
J4:(1) J5:(1) J6:(1)
J7:( ) J8:( )
123 CLOSE
8
Yes 123 No
<ORIGIN> USER COMPLETED
This completes the setting of the origin with the user origin method.
J1:( 1 ) J2:(1) J3:(1)
J4:(1) J5:(1) J6:(1)
J7:( ) J8:( )
123 CLOSE
80
8.User Mechanism Settings, Operation, and Commands
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.
1 GetM 2
2 Mov P1
3 Dly 1.0
4 Mov P2
5 Dly 1.0
6 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,
Note) When your controller has no operation panel, use the dedicated external signals corresponding to the following step to operate the robot.
(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 "AUTOMATIC".
(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 " AUTOMATIC ".
(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.
81
8.User Mechanism Settings, Operation, and Commands
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.
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.
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 pa-
rameter 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. ".
82
8.User Mechanism Settings, Operation, and Commands
[Explanation]
(1) The operating speed can be switched by pressing [OVRD(upper arrow)] (jog speed UP) or
[OVRD(lowerr arrow)] (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.
(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 [F2](teach) key, and [F1] (YES) key of confirmation screen.
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".
CAUTION
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.
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".
83
8.User Mechanism Settings, Operation, and Commands
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) Press [EMG.STOP] on the operation panel on the front side of the robot controller.
(2) Press [EMG.STOP] key of the teaching pendant.
(3) Emergency stop with the external emergency stop terminal on the rear of the robot controller
(4) 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".
84
8.User Mechanism Settings, Operation, and Commands
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 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 step 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 step 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.Z=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.
85
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 function
Fine command Note)
Spd command
Mvs command
Circular interpolation instruction related (Mvr/Mvr2/Mvr3/Mvc)
DISTfunction, ZONE2 function
M_RDst (remaining distance), M_Ratio (arrival ratio), M_Spd/M_NSpd/M_RSpd (XYZ speed related) status variables
Fram function
Joint variables (including status variables of joint variable type)
Impact detection function（ColChk/ColLvl）
Singular point passage function（Type 0, 2）
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.
8.6.3 Limitation when using user mechanism
When using the addition axis as a user mechanism, the robot arm has the following limitation.
The collision detection function and the interference avoidance function cannot be used.
The maintenance forecast function is invalid.
And also, The user mechanism does not correspond to the collision detection function, the interference avoidance function, and the maintenance forecast function.
86
8.User Mechanism Settings, Operation, and Commands
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
Array designation
Note1)
Details
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)
Attribute
Note2)
Ｒ
Ｒ
Ｒ
Ｒ
Ｒ
Data type, Unit
Position type
Position type
Position type
Position type
Position type
P_NBase
M_OPovrd None
M_Ovrd
M_JOvrd
M_NOvrd
Mechanism No.(1 to 3) System default value (base conversion data)
Slot No.(1to 32)
Slot No.(1to 32)
Slot No.(1to 32)
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) (%)
M_NJovrd Slot No.(1to 32)
M_SkipCq Slot No.(1to 32)
M_Acl Slot No.(1to 32)
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 (%)
Ｒ
Ｒ
Ｒ
Ｒ
Ｒ
Ｒ
Ｒ
Ｒ
Position type
Integer type, %
Integer type, %
Integer type, %
Single-precision real number type, %
Single-precision real number type, %
Integer type
M_DAcl
M_NAcl
M_NDacl
M_AclSts
M_Run
M_Wai
M_Psa
M_Cys
Slot No.(1to 32)
Slot No.(1to 32)
Slot No.(1to 32)
Slot No.(1to 32)
Slot No.(1to 32)
Slot No.(1to 32)
Slot No.(1to 32)
Slot No.(1to 32)
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)
Ｒ
Ｒ
Ｒ
Ｒ
Ｒ
Ｒ
Ｒ
Ｒ
Single-precision real number type, %
Single-precision real number type, %
Single-precision real number type, %
Single-precision real number type, %
Integer type
Integer type
Integer type
Integer type
Integer type
M_Cstp None
C_Prg Slot No.(1to 32)
M_Line Slot No.(1to 32)
M_Err None
M_ErrLvl None
M_Errno None
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.
Ｒ
Ｒ
Ｒ
Ｒ
Ｒ
Ｒ
Integer type
Character string type
Integer type
Integer type
Integer type
Integer type
87
8.User Mechanism Settings, Operation, and Commands
Variable name
M_Svo
M_Uar
M_In
M_Inb
M_Inw
M_Out
M_Outb
M_Outw
M_DIn
Array designation
Note1)
Details
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 0：area 1 to Bit 7：area 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
M_DOut Output No.(from 6000) CC-Link's remote register: output register
M_HndCq Input No.(1 to 8) Returns a hand check input signal.
Attribute
Note2)
Ｒ
Ｒ
Ｒ
Ｒ
Ｒ
Ｒ
ＲＷ
Ｒ
ＲＷ
ＲＷ
ＲＷ
Data type, Unit
Integer type
Integer type
Integer type
Integer type
Integer type
Integer type
Integer type
Integer type
Integer type
Integer type
Integer type
P_Safe
C_Mecha
Mechanism No.(1 to 3) Returns an evasion point position.
Slot No.(1 to 32)
C_Maker None
Returns the type name of the robot.
C_User None
C_Date None
C_Time None
M_BTime None
M_Timer Timer No. (1 to 8)
P_Zero None
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
M_Pi None
Ｒ
Ｒ
Ｒ
Position type
Character string type
Character string type
Ｒ Character string type
Ｒ
Ｒ
Character string type
Character string type
Ｒ Integer type, Time
Ｒ W Single-precision real number type
Ｒ
Ｒ
Position type
Double-precision real number type
88
8.User Mechanism Settings, Operation, and Commands
Variable name
M_Exp
Array designation
Note1)
None
Details
Base of natural logarithm (2.71828...)
Attribute
Note2)
Ｒ
Data type, Unit
M_G
M_On
M_Off
None
None
None
Specific gravity constant (9.80665)
1 is always set
0 is always set
Ｒ
Ｒ
Ｒ
Double-precision real number type
Double-precision real number 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.
89
8.User Mechanism Settings, Operation, and Commands
(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>)
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).
Trigonometric functions
Exp (<Numeric expression>)
Fix (<Numeric expression>)
Int (<Numeric expression>)
Len(<Character string expression>)
Ln (<Numeric expression>)
Log (<Numeric expression>)
Max (<Numeric expression>...)
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.
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>)
Cvi(<Character string expression>)
Cvs(<Character string expression>)
Cvd(<Character string expression>)
Val(<Character string expression>)
Atn(<Numeric expression>)
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: -π/2 to +π/2
Atn2(<Numeric expression>, <Numeric expression>)
Calculates the arc tangent. Unit: radian
Θ =Atn2( ⊿ｙ , ⊿ x)
Definition range: Numeric value of ⊿ｙ or ⊿ x that is not 0
Value range: -π to +π
Cos(<Numeric expression>)
Sin(<Numeric expression>)
Tan(<Numeric expression>)
Calculates the cosine Unit: radian
Definition range: Numeric value range,
Value range: -1 to +1
Calculates the sine Unit: radian
Definition range: Numeric value range,
Value range: -1 to +1
Calculates the tangent. Unit: radian
Definition range: Numeric value range,
Value range: Range of numeric value
Result
Numeric value
Numeric value
Numeric value
90
8.User Mechanism Settings, Operation, and Commands
Class Function name (format)
Character string functions
Bin$(<Numeric expression>)
Chr$(<Numeric expression>)
Position variables
Hex$(<Numeric expression>)
Left$(<Character string expres- sion>,<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>)
Inv(<Position>)
PtoJ(<Position>)
JtoP(<Position>)
Zone(<Position 1>,<Position 2>, <Position 3>)
Functions
Converts numeric expression value into binary 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
Result
Character string
Numeric value
Position
Joint
Position
Numeric value
(3) Instructions related to movement control that operate without any problem in the user mechanism
Command Explanation
Mva(Move Arch)
JOvrd(J Override)
Cnt (Continuous)
Accel (Accelerate)
Jrc(Joint Roll Change)
Arch motion interpolation
Speed specification during joint interpolation movement
Continuous path mode specification
Acceleration/deceleration rate specification
Enables multiple rotation of the tip axis
91
8.User Mechanism Settings, Operation, and Commands
Command Explanation
Servo(Servo)
Wth(With)
WthIf(With If)
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 Explanation
If…Then…Else…EndIf(If Then Else)
Select Case
GoTo(Go To)
GoSub (RETURN) (Go Subroutine)
Reset Err(Reset Error)
CallP(Call P)
FPrm(FPRM)
Conditional branching
Enables multiple branching
Jump
Subroutine jump
Resets an error (use of default is not allowed)
Program call
Program call argument definition
Dly(Delay) Timer
Hlt(Halt) Suspends a program
End(End)
On…GoSub(ON Go Subroutine)
End a program
Subroutine jump according to the value
On…GoTo(On Go To)
For - Next (For-next)
While-Wend(While End)
Open(Open)
Jump according to the value
Repeat
Conditional repeat
Opens a file or communication line
Input(Input)
Close(Close)
Com On/Com Off/Com Stop
(Communication ON/OFF/STOP)
On Com GuSub
(ON Communication Go Subroutine)
HOpen / HClose(Hand Open/Hand Close)
Inputs data
Closes a file or communication line
Enables, disables or pauses communication interrupt
Communication interrupt subroutine jump
Hand's open/close
Wait(Wait) Waiting for conditions
(5) Definition instructions that operate without any problem in the user mechanism
Command Explanation
Plt(Pallet)
Def Act(Define act)
Act(Act)
Def Jnt(Define Joint)
Def Pos(Define Position)
Def Inte/Def Float/Def Double
(Define Integer/Float/Double)
Def Char(Define Character)
92
Pallet position calculation
Interrupt definition
Starts or ends interrupt monitoring
Joint type position variable definition
XYZ type position variable definition
Integer or real number variable definition
Character variable definition
8.User Mechanism Settings, Operation, and Commands
Def Io(Define IO)
Def FN(Define function)
Tool(Tool)
Base(Base)
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)
93
8.User Mechanism Settings, Operation, and Commands
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
Drive unit or
Robot controller
Servomotor
<CR750/CR751 series> <CRn-700 series>
(CR751 controller)
S TA T
S N U M BE
M O D p.) C S VO O N
V O O
C HA N DI SP
S T AR
T O
U P
O W
E S ET
E M G .S T
E N D E M OV
E T /B
(CR750 controller)
Rotation table
Servo amplifier
Note) The fig of the robot arm is the vertical multi-joint type 6 axis robot's example.
Fig. 8.7.1 Rotation table system
Robot arm
Robot controller
Servo amplifier
Servo motor
Rotation table
Table 8.7.1 Structural equipment
Vertical 6-axis robot
CR750/CR751 series and CRn-700 series 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
1 mechanism and 1 axis
Unit of additional axis degree (rotation axis)
Rotation direction of additional axis Forward run (CCW)
Acceleration/deceleration of the additional axis
0.4 seconds per each
Total speed ratio of additional axis 1/20 (1/20 rotation of additional axis per rotation of motor)
Rated speed 3000 (rpm)
Maximum speed
Encoder resolution
4000 (rpm)
262144 (pulse/rev)
Operating range
Origin designated by user
–160 to +160 (degree)
90 (degree)
94
8.User Mechanism Settings, Operation, and Commands
Connecting devices
Devices are connected as follows.
(1) Connect servo amplifier (CN1A connector) with the robot controller by the SSCNET cable. In case of the CR750-Q/CR751-Q series and CRnQ-700 series controller, connect with the
CN2 connector of robot CPU, and, in case of the CR750-D/CR751-D series controller , the robot controller side connects with the ExtOPT connector. And CRnD-700 series controller,
the robot controller side connects with the OPT connector.（Refer to "5.1Connection of Robot
Servo amplifier
Controller
SSCNET III cable
To CN1A connector
へ
To CN1B connector cap
・CR750-Q/CR751-Q series and CRnQ-700 series:
Connect with CN2 connector of the robot CPU.
・CRnD-700 series:
Connect with OPT connector of the controller.
・CR750-D series:
Connect with ExtOPT connector of the controller
Fig. 8.7.2 Connection of controller and servo amplifier
CAUTION
Please install the connector cap to the connector for communication which does not connect the SSCNETIII cable. There is a possibility of malfunctioning if the cap is not installed. And, if the light from the connector for communication hits upon the eyes, there is a possibility of feeling the incompatibility for the eyes.
Setting the servo amplifier parameters
Set the servo amplifier parameters by refer to "6.2Parameter setting of servo amplifier."
95
8.User Mechanism Settings, Operation, and Commands
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".
Parameter name changed
Table 8.7.3 Setting the rotation table system parameters
Before/after change
Value of parameter
AXUNUM
AXMENO
AXJNO
AXUNT
AXSPOL
AXACC
AXDEC
AXGRTN
AXGRTD
AXMREV
AXJMX
AXENCR
MEJAR
(Mechanism No.2)
USERORG
(Mechanism No.2)
Before 0
After
Before
After
1
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
Before
After
Before
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
After
Before
After
Before
After
Before
After
Before
After
Before
After
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
Before
After
Before
After
Before
After
Before
After
Before
After
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
262144, 262144, 262144, 262144, 262144, 262144, 262144, 262144, 262144,
262144, 262144, 8262144, 262144, 262144, 262144, 262144
262144, 262144, 262144, 262144, 262144, 262144, 262144, 262144, 262144,
262144, 262144, 262144, 262144, 262144, 262144, 262144
-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
96
8.User Mechanism Settings, Operation, and Commands
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)
<2>
Flow of work
<1>
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 Explanation
1
2
Operation program of standard robots
Operation program of rotation axis
97
8.User Mechanism Settings, Operation, and Commands
(3) Input/Output signal
The general I/O signals to be used are as follows
General purpose input/output name
Signal H/L
General purpose input
10080
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
Explanation
General purpose output
10080
H (1)
L (0)
Transport of works from the external location to rotation axis has been complete.
Work not transported from the external location to the rotary axis.
(4) Position variable
The position data is as follows
Robotarm(Mechanism No.1)
P1SF
P232
P231
P11
P12
Rotation axis
(Mechanism No.2)
Station
Explanation Mechanism name Position variable name
Robot arm
(Mechanism No.1)
Rotation axis
(Mechanism No.2)
P11
P12
P231
P232
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
98
8.User Mechanism Settings, Operation, and Commands
(5) Program External Variables
Program external variables are used as interlock variables between mechanisms.
The following variables are used.
Variable name Variable (0/1) Explanation
M_01
0 Preparation of work on rotary axis incomplete
1 Preparation of work on rotary axis complete
0 Unloading of work by robot from rotary axis incomplete
M_02
1 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?
99
8.User Mechanism Settings, Operation, and Commands
(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
120 *LOOP
130 M_01#=1
' Interlock variable is initialized
140 If M_01#=1 Then GoTo 140
150 Mov P11,-50
160 Mvs P11
' Requests for preparation of work on rotary axis
' Waits for completion of preparation of work on rotary axis
' Moves to 50 mm above P11
' Moves to position from which work is
170 HClose 1
180 Dly 0.5
190 Mvs P11,-50
200 M_02#=1
210 Mov P12,-50
220 Mvs P12 unloaded from rotary axis
' Pickup work piece
' Waits for 0.5 sec
‘ Moves to 50 mm above P11
' Unloading of work from rotary axis is complete.
' Moves to 50 mm above P12
' Moves work placement position of positioning device
230 HOpen 1
240 Dly 0.5
250 Mva P12,-50
260 GoTo *LOOP
' Places work
' Waits for 0.5 sec
' Moves to 50 mm above P12
<2>Program of mechanism number 2 (Program name:2)
100 GetM 2
110 M_Out(11)=0
' Gets mechanism 2
' Prohibits work transport to external lo-
120 Mov P231
130 Dly 0.1 cation
' Moves to work transport position
' Waits for completion (static) of operation
(set values must be adjusted)
140 *LOOP
150 If M_01#=0 Then GoTo 150
160 M_Out(11)=1
170 If M_In(11)=0 Then GoTo 170
180 M_Out(11)=0
190 Mov P232
200 Dly 0.1
210 M_02#=0
220 M_01#=0
230 If M_02#=0 Then GoTo 230
' Waits for request of preparation of work on rotary axis
' Permits work transport to external location
' Waits for completion of work transport from external location
' Prohibits work transport to external location
' Rotates to position where robot unload the work
' Waits for completion (static) of operation
(set values must be adjusted)
' Rotary axis requests unloading of work
' Preparation of work by rotary axis is complete.
' Waits for completion of unloading of work from rotary axis
' Moves to work transport position 240 Mov P231
250 GoTo *LOOP
Procedure 2 : Setting the task slot parameter
Set the slot parameters as follows.
Parameters Program name Operation mode Operation format
Number of executed lines
SLT1
SLT2
1 REP 1
2 REP 1
100
8.User Mechanism Settings, Operation, and Commands
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
3. Starting conditions START
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
4. Order of priority 1
1 to 31: Number of lines executed at one time at multitask operation
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.
101
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).
Drive unit or
Robot controller
<CR750/CR751 series> <CRn-700 series>
(CR751 controller)
S TA T S N U
M BE R
M O D
T
V O O
V O O
S T R T
T O P
C HA
N G DI SP
U P
O W N
E S ET
E N D
M G .S
T O
E M OV
E T /B
Robot arm
(Mechanism No.1) (CR750 controller)
Note) The fig of the robot arm is the vertical multi-joint type 6 axis robot's example.
Each moving axis (Mechanism No.2)
Vertical moving axis 1
Servo motor 1 Servo amplifier 1
1st axis
Vertical moving axis 2
Servo motor 2 Servo amplifier 2
2nd axis
Rotation axis
Servo motor 3 Servo amplifier 3
Fig. 8.7.4 System with multiple axes
3rd axis
102
8.User Mechanism Settings, Operation, and Commands
Robot arm
Robot controller
Servo amplifier
Table 8.7.3 Structural equipment
Vertical 6-axis robot
CR750/CR751 series and CRn-700 series controller
Prepared by the customer.
Servo motor Prepared by the customer.
Vartical moving axis 1
Vartical moving axis 2
Rotation table
Manufactured and prepared by customer.
Manufactured and prepared by customer.
Manufactured and prepared by customer.
Mechanism number
Name of mechanism
Table 8.7.4 Multiple axes specifications
Vartical moving axis 1 Vartical moving axis 2 Rotation axis
Axis number of mechanism 1 axis (J1)
Control axis number of servo 1st
Unit of additional axis mm
(Direct moving axis) mm
2
2 axis (J2)
2nd
(Direct moving axis)
3 axis (J3)
3rd degree
(rotation axis)
Rotation direction of additional axis
Acceleration/deceleration of the additional axis
Total speed ratio of additional axis
Forward run (CCW)
0.4 seconds per each
Rated speed
Maximum speed
Encoder resolution
Operating range
Origin designated by user
2/37 2/37 1/20
(1/20 rotation of additional axis per rotation of motor)
3000 (rpm)
4000 (rpm)
–2000 to +3000
(mm)
0 (mm)
262144 (pulse/rev)
–2000 to +3000
(mm)
0 (mm)
–160 to +160
(degree)
90 (degree)
103
8.User Mechanism Settings, Operation, and Commands
Connecting devices
Devices are connected as follows.
(1) Connect servo amplifier (CN1A connector) with the robot controller by the SSCNET cable. In case of the CR750-Q/CR751-Q series and CRnQ-700 series controller, connect with the CN2 connector of robot CPU, and, in case of the CR750-D/CR751-D series controller, the robot controller side connects with the ExtOPT connector. And CRnD-700 series controller, the
robot controller side connects with the OPT connector.（Refer to “5.1Connection of Robot
(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.")
Servo amplifier Servo amplifier Servo amplifier
Controller
SSCNET III cable
To CN1A connector
SSCNET III cable
To CN1A connector
SSCNET III cable
To CN1A connector
To CN1B connector
・CR750-Q/CR751-Q series and CRnQ-700 series:
Connect with CN2 connector of the robot CPU.
・CRnD-700 series:
Connect with OPT connector of the controller.
・CR750-D series:
Connect with ExtOPT connector of the controller
To CN1B connector
Axis selection switch 0
Servo control axis No.1st axis
Cap
Axis selection switch 1
Servo control axis No. 2nd axis
.
Axis selection switch 2
Servo control axis No. 3rd axis
Fig. 8.7.5 Connection of controller and servo amplifier
Please install the connector cap to the connector for communication which does not connect the SSCNETIII cable.
CAUTION
There is a possibility of malfunctioning if the cap is not installed. And, if the light from the connector for communication hits upon the eyes, there is a possibility of feeling the incompatibility for the eyes.
Setting the servo amplifier parameters
Set the servo amplifier parameters by refer to "6.2 Parameter setting of servo amplifier."
104
8.User Mechanism Settings, Operation, and Commands
Setting the robot controller parameters
Set the parameters of robot controller.
For details on how to set these parameters, refer to "Instruction Manual/ Detailed explanations of functions and operations".
Parameter name changed
Table 8.7.5 Setting the multiple axes system parameters
Before/after change
Value of parameter
AXUNUM
AXMENO
AXJNO
AXUNT
AXSPOL
AXACC
AXDEC
AXGRTN
AXGRTD
AXMREV
AXJMX
AXENCR
MEJAR
(Mechanism No.2)
USERORG
(Mechanism No.2)
Before 0
After 1
Before
After
Before
After
Before
After
Before
After
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
Before
After
Before
After
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 Before
After
Before
After
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
Before
After
Before
After
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
Before
After
Before
After
Before
After
262144, 262144, 262144, 262144, 262144, 262144, 262144, 262144, 262144,
262144, 262144, 262144, 262144, 262144, 262144, 262144
262144, 262144, 262144, 262144, 262144, 262144, 262144, 262144, 262144,
262144, 262144, 262144, 262144, 262144, 262144, 262144
-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
105
8.User Mechanism Settings, Operation, and Commands
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)
Robot arm
(Mechanism No.1)
(1)
Vertical moving axis 1
(Mechanism No.2:No.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 Explanation
1
2
Operation program of standard robots
Operation program of mechanism No.2.
106
8.User Mechanism Settings, Operation, and Commands
(3) Input/Output signal
The general I/O signals to be used are as follows
General purpose input/output name
Signal H/L
General purpose input
10081
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
10080
General purpose output
10081
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
Robot arm
(Mechanism No.1)
Mechanism name Position variable name
Robot arm
(Mechanism No.1)
Rotation axis
No.1 axis)
(Mechanism No.2 :
P11
P12
P231
P232
P231
Vertical moving axis 1
(Mechanism No.2 : No.1 axis)
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
107
8.User Mechanism Settings, Operation, and Commands
(5) Program External Variables
Program external variables are used as interlock variables between mechanisms.
The following variables are used.
Variable name Variable (0/1) Explanation
M_01
0
1
Preparation of work on vartical moving axis 1 complete
Preparation of work on vartical moving axis 1 incomplete
0 Unloading of work by standard robot from vartical moving axis 1 incomplete
M_02
1 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?
108
8.User Mechanism Settings, Operation, and Commands
(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
120 M_02#=0
130 Mov P1SF
140 *LOOP
' Interlock variable is initialized
' Interlock variable is initialized
' Moves to safe position
150 M_01#=1
160 If M_01#=1 Then GoTo 160
170 Mov P11,-10
180 Mvs P12,-10
190 Mvs P12
200 M_Out(10)=0
210 Dly 0.05
' Requests for preparation of work on vertical moving axis
' Waits for completion of preparation of work on vertical moving axis
‘ Moves 10 mm below P11
' Moves 10 mm below P12
‘ Move to P12
' Pickup workpiece
' Waits for 0.05 sec of vacuum timer
220 Mvs P12,10
230 Mvs P11,10
240 Dly 0.1
250 M_02#=1
260 Mov P1SF
270 GoTo *LOOP
' Moves 10 mm above P12
‘ Moves 10 mm above P11
' Waits for completion (static) of operation (set values must be adjusted)
' Unloading of work from vertical moving axis is complete.
' Move to safe position
<2>Program of mechanism number 2 (Program name:2)
100 GetM 2 ' Gets mechanism 2
110 M_Out(11)=0
120 PMV=P_Curr(2)
130 PMV.X=P231.X
' Prohibits work transport to external location
‘ Reads current position
' Rewrites element of axis 1 (vertical moving axis 1) of current position
140 Mov PMV
150 Dly 0.1
' Moves to work transport position
' Waits for completion (static) of operation (set values must be adjusted)
160 *LOOP
170 If M_01#=0 Then GoTo 170
180 M_Out(11)=1
190 If M_In(11)=0 Then GoTo 190
' Waits requests for request of preparation of work on vertical moving axis 1
' Permits work transport to external location
' Waits for completion of work transport from external location
200 M_Out(11)=0
210 PMV=P_Curr(2)
220 PMV.X=P232.X
230 Mov PMV
240 Dly 0.1
' Prohibits work transport to external location
‘ Reads current position
' Rewrites element of axis 1 (vertical moving axis 1) of current position
‘ Moves to the position where robot unload work
' Waits for completion (static) of operation
250 M_02#=0
260 M_01#=0
270 If M_02#=0 Then GoTo 270
280 PMV=P_Curr(2)
290 PMV.X=P231.X
300 Mov PMV
310 GoTo *LOOP
(set values must be adjusted)）
' Requests to unload the work from the moving axis.
' Preparation of work on vertical moving axis
1 incomplete .
' Waits for completion of unload the work from vertical moving axis
' Reads current position
' Rewrites elements of axis 1 (vertical moving axis 1) of current position
' Moves to work transport position
109
8.User Mechanism Settings, Operation, and Commands
Procedure 2 : Setting the task slot parameter
Set the slot parameters as follows.
Parameters Program name Operation mode Operation format
Number of executed lines
SLT1 1 REP START 1
SLT2 2 REP START 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
3. Starting conditions START
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
4. Order of priority 1
1 to 31: Number of lines executed at one time at multitask operation
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.
110
9.Design and Engineering
9. Design and Engineering
9.1.1 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 CR750-Q/CR751-Q series or
CRnQ-700 series controller.
Robot CPU
Sequencer
Robot arm
Servo amplifier
Ｅ B M
Drive unit
Teaching pendant (option)
Emergency stop switc h M: Motor
B: Brake
E: Encoder
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 CR750-D/CR751-D series or CRnD-700 series controller.
Robot arm
Servo amplifier
Ｅ B M
Controller
Teaching pendant (option)
Emergency stop switch
M: Motor
B: Brake
E: Encoder
111
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 and robot parameter(AXNUM,AXMENO,AXJNO) of
the amplifier. (Refer to "this manual/6 Servo system setting".)
(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 PA14 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 PA03 ABS of the servo amplifier. (Refer to "this manual/6.2
Parameter setting of servo amplifier".)
Check the setting of the parameter PA14 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".
112
11Appendix
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.
Also the error No,and message 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*
H7601*
H7602*
H7603*
H7604*
H7605*
H7606*
Error message)
Cause)
Countermeasure)
Error message)
Cause)
Countermeasure)
Error message)
Cause)
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.
Countermeasure)
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. Error message)
Cause) The value of AXUNT (unit axis) parameter is illegal.
Countermeasure) Change the values of all elements of this parameter to "0" or "1".
Error message) Acceleration time of additional axis is illegal.
Cause) The value of AXACC (acceleration time) parameter is illegal.
Countermeasure) Change the values of all elements of this parameter to positive real numbers.
Error message) Deceleration time of additional axis is illegal.
Cause) The value of AXDEC (deceleration time) parameter is illegal.
Countermeasure) Change the values of all elements of this parameter to positive real numbers.
Error message) Gear ratio numerator of additional axis is illegal.
Cause) The value of AXGRTN (total speed ratio numerator) parameter is illegal.
Countermeasure) Change the values of all elements of this parameter to positive integers.
113
11Appendix
Error No.
H7607*
H7609*
H7610*
H7611*
H7612*
H7613*
Error message)
Cause)
Error cause and measures
Gear ratio denominator of additional axis is illegal.
The value of AXGRTD (total speed ratio denominator) parameter is illegal.
Countermeasure) Change the values of all elements of this parameter to positive integers.
Error message) Motor rated speed of additional axis is illegal.
Cause) The value of AXMREV (rated speed) parameter is illegal.
Countermeasure) Change the values of all elements of this parameter to positive integers.
Error message) Motor maximum speed of additional axis is illegal.
Cause) The value of AXJMX (maximum speed) parameter is illegal.
Countermeasure) Change the values of all elements of this parameter to positive integers.
Error message) Encoder pulse of additional axis is illegal.
Cause) The value of AXENCR (encoder resolution) parameter is illegal.
Countermeasure) Change the values of all elements of this parameter to positive integers.
Error message) JOG smoothening time constant of additional axis is illegal.
Cause) The value of AXJOGTS (JOG smoothening time constant) parameter is illegal.
Countermeasure) Change the values of all elements of this parameter to 0 or positive real number.
Error message) Turn OFF the power supply once, and turn ON it again.
Cause) It is necessary to turn OFF the power supply once.
Countermeasure) 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".
114
Nov..2012 MEE Printed in Japan on recycled paper. Specifications are subject to change without notice.
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