IAI RA Series, Instruction Manual

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5. Practical Settings
133
• When the robot combination type = 0 (X-Y-Z-R-(B-T)), Z of ZR unit should be used in the
home-reversed type.
• When it is required to control such as RCP6 (high output) connected to MCON with the
extension motion control, the connected axes may not be numbers in a row as it is necessary to
assign a reserved axis between each connected axis for the reason of MECHATROLINK-
Ⅲ
communication setting.
In this case, assignment to numbers in a row can be possible by putting the gateway
parameters forward by the method stated below. By doing this, it becomes available to make
movement with the extension motion control position data in which the coordinate conversion
result was stored as the target position without any change in setting.
[How to Put Parameters Forward]
1) Start up Gateway Parameter Setting Tool and establish connection to the gateway.
2) Open Setting → Special Parameters.
3) Select a tab for GW Mode Select and activate “Put Node Address of Axes Not in Use
Forward”.
4) Description of “Reserved Axis” changes to “Forward” and forwarding setting gets
activated.
* Gateway Parameter Setting Tool needs to be V2.4.0.0 or later.
* It is necessary to have a special attention because the identification of axis numbers in the
RC PC software and those in MECHATROLINK-
Ⅲ
will become different.
ME0364-2B