Okura Yusoki A Series, Original Instructions Manual

Page: 53 / 78

5-17
5.14.
Expansion Axis Setting
This screen is for setting
expansion axis.
The directory to expansion axis
setting is as follows.
System storage menu
↓
Motor axis data
↓
Expansion axis setting
Note) Amp unit is required to add expansion axis.
１．
Set expansion axis
Select type of servo motor to be installed.
２．
Relationship between expansion axis and C axis
What is difference from expansion axis to be used as C axis from not as C axis.
For C axis Not for C axis
Control
method
Robot sequence commands
（
HMOV/HMOVD/TRQC
）
*Can be synchronized with
robot sequence.
Built-in PLC commands
（
EXMOVA/EXMOVR
）
Step
storing Store per every program
Max 9 steps per a program Stored per every axis
Max 99 steps per a axis
３．
Coordinates offset
・
For the expansion axis that [Not use as C axis] is selected, enter the distance of offset
off the position where encoder origin is stored. Normally don’t need to enter as those
are the exact same position.
・
For the expansion axis that [Use as C axis] is selected, enter the distance between
palms (paddles) where encoder origin is stored. Normally don’t need to enter as those
are the exact same position.
４．
Operation range+-
Enter operation range for the expanded area.
５．
Acceleration / deceleration time
Enter Acceleration / deceleration time.
６．
Axis accuracy