System Configuration Example Of Additional Axis Interface - Mitsubishi CRn-500 Series Instruction Manual

3.2 System configuration example of additional axis interface

If the function of the additional axis interface is used, the following system can be configured.
(1) Robot additional axis
(2) Mechanical additional axis
Here, to control the axis as the mechanical additional axis, apply the program method of
MELFA-BASICIV. When the MOVEMASTER command is used, the robot additional axis only can be
used.
"Fig. 3.2.1" shows the system in which the robot arm is arranged on the travel axis. In this case, the
travel axis is a robot additional axis (controlled in synchronization with the robot arm).
Servomotor
Servo amplifier
･････････ Like the travel axis, etc., the axis starts moving and stops moving
(as a part of the robot) in synchronization with the robot arm.
･･･ Like the rotation table, positioning device, etc., the axis is separately
(asynchronously) controlled regardless of the robot arm.
Robot arm
Travel axis unit
Fig. 3.2.1 Travel axis system (an example)
3.Additional axis interface
CR1/CR1B controller
Expansion option box
(In the box: Additional axis interface card）
5