IAI RA Series, Instruction Manual

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5. Practical Settings
122
5.3.2. Caution
• About Operation of Wrist Unit
• Turn the servo ON/OFF in either B or T-axis, and it turns ON/OFF in both B and T-axes at the
same time.
• It is not available to use B and T-axes in different programs at the same time.
• It is prohibited to have a home-return operation in B and T-axes except for the operation
pressing the home button in the absolute reset. (Error No. B80 “Specification-prohibited Axis
Error”)
•
B and T-axes are not available for master and slave setting for synchronizing operation (XCAS
and XSFS Commands).
• The display in XSEL-RA/SA controller and that in other controllers such as PCON and MCON are
different for the current position of the wrist unit. While PCON and MCON controllers show the
position with the absolute reset datum position as the home position, XSEL-RA/SA controller
shows offset absolute reset datum position, and also considers the value of B-axis feature
adjustment for T-axis.
• If the wrist unit B-axis is out of the range of software limit (0D9 “Software Stroke Limit Exceeding
Error” detected on XSEL-RA/SA controller), make sure that you set the B-axis back in the
software limit range, first. If the T-axis is operated with the B-axis as it is, there may be Error 0D9
occurred also in the T-axis.
• If wrist unit is to be connected to MCON controller, it is necessary to connect a release switch on
the external brake connector so the absolute reset can be conducted.
ME0364-2B