Specifications

Types of additional axis

The supported additional axis is the PG axis, controlled by the pulse generator board. However, note that the PG axis has some limitations.

Limitations of a PG additional axis:

• Synchronizes with the manipulator to start motion but not to finish.
• Does not support Path motion with CP On and Pass. Stops for every motion.
• Does not go through the CVMove series of points.
• Calibration is necessary using the MCAL command. Cannot operate the additional axis and the robot together until the calibration is complete. If movement of the PG additional axis is "0", and Go and Move are executed to the point where only the robot moves, the robot will move singly.

Number of additional axis

Up to two additional axes are available for each of the SCARA robot series (including RS series), Cartesian coordinate robot, 6-axis robot (including N series), and Joint type robot. However, the number of axes you can add is determined by how many axes are available with your controller.

Position data management

The additional axes are allocated to Joint #8 and #9 for all robot types. The position data are shown in the S and T coordinate values of point data of the manipulator to which you add the additional axes.

The additional axis as Joint #8 is called the additional S axis and Joint #9 is the additional T axis.

The coordinate values of additional axes are saved with the robot point data but don't have any effect on the robot coordinate system.

How to operate

The additional axis can move simultaneously with the manipulator. (synchronous start / stop) However, if you use the PG axis, it doesn't synchronize with manipulator to finish and operate by the different acceleration/deceleration speed from the manipulator. See below for details on motion commands.

Also, you can operate the additional axis and manipulator separately by proper management of the point data. However, you cannot operate separately both of them in arbitrary timing. In this case, use the multi-manipulators function and set the drive axis as another manipulator.

Command specification

Pulse, Go, BGo, TGo, Pass

The additional axis can operate in association with the manipulator motion. However, if you use the PG axis, it synchronizes only to start the motion and a motion command completes when both the manipulator and axis finish each motion. In addition, if the PG additional axis has a travel distance, the Path motion with CP On and Pass are prohibited and the axis moves with CP Off automatically.

Move, BMove, Tmove

The additional axis can operate in association with the manipulator motion. However, if you use the PG axis, it synchronizes only to start the motion and a motion command completes when both the manipulator and axis finish each motion. In addition, if the PG additional axis has a travel distance, the Path motion with CP On is prohibited and the axis moves with CP Off automatically.

Arc, Arc3

The additional axis can operate in association with the manipulator motion. It doesn't go through the specified midPoint and directly goes to the end point. If you use the PG axis, it synchronizes only to start the motion and a motion command completes when both the manipulator and axis finish each motion. In addition, if the PG additional axis has a travel distance, the Path motion with CP On is prohibited and the axis moves with CP Off automatically.

CVMove

The additional axis can operate in association with the manipulator motion. If you use a servo axis for the additional axis, for each of the S and T axis it creates a curve going through the S and T coordinates specified by a series of point data. However, if you use the PG axis for the additional axis, it doesn't go through the series of points and directly goes to the end point. Also, it synchronizes only to start the motion and a motion command completes when both the manipulator and axis finish each motion. In addition, if the PG additional axis has a travel distance, the Path motion with CP On is prohibited and the axis moves with CP Off automatically.

Jump

The additional axis executes PTP motion in association with the manipulator horizontal motion. However, if you use the PG axis, it synchronizes only to start the motion and a motion command completes when both the manipulator and axis finish each motion. In addition, if the PG additional axis has a travel distance, the Path motion with CP On is prohibited and the axis moves with CP Off automatically.

Jump3, Jump3CP

The additional axis can operate in association with the manipulator depart / span / approach motion. However, if you use the PG axis, it synchronizes only to start the motion and a motion command completes when both the manipulator and axis finish each motion. In addition, if the PG additional axis has a travel distance, the Path motion with CP On and Pass are prohibited and the axis moves with CP Off automatically.

JTran, PTran

The additional axis can operate separately by specifying as Joint #8, #9.

Example:

> JTran 8, 90     ' Move the additional S axis by 90 mm
> PTran 9, 10000  ' Move the additional T axis by 10000 pulse