Usage

Additional axis configuration

For the instruction of configuring the additional axis, see below.

If you use the PG axis for the additional axis, you need to set the PG parameters. For details on PG parameters, refer to the following manual:

"Robot Controller Option PG Motion System Manual"

Point data usage

This example specifies the position data of manipulator and additional ST axes and substitutes them to the point data.

P1 = XY(10, 20, 30, 40) :ST(10, 20)          ' SCARA robot
P1 = XY(10, 20, 30, 40, 50, 60) :ST(10, 20)  ' 6-axis robot

This example specifies the position data of manipulator and additional ST axes and executes a PTP motion.

Go XY(10, 20, 30, 40) :ST(10, 20)
Go XY(10, 20, 30, 40, 50, 60) :ST(10, 20)

This example specifies the position data of additional ST axes individually.

P1 = XY(10, 20, 30, 40) :S(10) :T(20)
P1 = XY(10, 20, 30, 40) :S(10)
P1 = XY(10, 20, 30, 40) :T(20)

This example omits the robot position assignment XY( ) and specifies only the additional axis position. Then, the point data is defined so that the manipulator doesn't move (undefined).

P1 = ST(10, 20)
Go P1            ' Only additional axis moves and the manipulator remains at the current position

This example operates only the additional axis.

Go ST(10, 20)    ' Only the additional axis moves

This example omits the additional axis position assignment ST( ) and specifies only the manipulator position. Then, the point data is defined so that the additional axis doesn't move (undefined).

P1 = XY(10, 20, 30, 40)
Go P1            ' Only the manipulator moves and the additional axis remains at the current position

This example operates the manipulator only.

Go XY(10, 20, 30, 40)  ' Only the manipulator moves

This example calculates the additional axis coordinate value using a point operator expression.

P1 = XY(10, 20, 30, 40, 50, 60) :ST(10, 20)
P2 = P1 + S(10) + T(20)  'Add the offset amount to the additional ST axes for P1

Note that you cannot use the point operator for undefined points.

P1 = XY(10, 20, 30, 40, 50, 60)
P2 = P1 + S(10) + T(20)                        ' Error (ST are undefined for P1 and you cannot use the point operator)
P1 = XY(10, 20, 30, 40, 50, 60) +ST(10, 20)    '  Error
P1 = XY(10, 20, 30, 40, 50, 60) +S(10) +T(20)  ' Error
Go ST(10, 20) + X(10)                          ' Error (XY are undefined and you cannot use the point operator)

This example shows the additional ST axes coordinate values retrieved from the point data.

Print CS(P1),  CT(P1)

Pallet motion

When you specify a pallet with the point data including the position data of additional axis, the position data of additional axis is also calculated by the pallet operator. If you use the additional axis as traveling axis, you can define a wide range pallet than for a single manipulator.

Also, if you want to use the additional axis not as traveling axis and exclude the additional axis position from the pallet operator, define the pallet with the point data that clears the additional axis position data.

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