1. Introduction

 

The main purpose of this chapter is to describe the registration of an additional axis to the robot.

 

[Steps of registration]   n  Preparations   (1)    Prepare the body (robot + additional axis) and wire harness.   (2)    Prepare controller, BD542 1 set (if applying more than 3 additional axes), additional axis AMP and various cables for signals.   (3)    Additional axis constant Prepare input data, including axis specifications and configuration of additional axis, reduction ratio, motor and AMP, according to the registration form of additional axis constant (Clause 3.2).   (4)    Acceleration and deceleration time of additional axis Prepare data to input the acceleration and deceleration time of additional axis command (Clause 3.2).   n  Registration of robot type and additional axis constant parameter Connect wire harness between the body and controller, initialize the system, select a robot type, input the number of additional axes and input the additional axis constant. (The maximum number of control axis is total 16 axes including robot) Ø  In the event that the robot is shipped after registering a robot type and additional axis constant parameter, the steps described above will not be required.   n  Connection and inspection Turn off the power of the controller → Connect a wire required for the body and controller → Turn on the power of controller → Calibrate encoder and set servo gun to base location (Axis constant).   n  Completion Set the operating environment of additional axis, and save ROBOT.MCH file to an external memory unit (HRView, USB memory).