Additional Axis Interface Functions; Additional Axis Interface Specifications - Mitsubishi CRn-500 Series Instruction Manual

3.3 Additional axis interface functions

The additional axis interface has the following functions.
(1) The robot controller can control a maximum of 2 axes such the travel axis, etc., as the 7th and 8th
axes of the robot arm.
(2) The robot controller can control the rotation axis and linear drive axis as the multi mechanism. Here,
a maximum of 2 mechanisms excluding the robot arm, and a maximum of 3 axes per mechanism
can be controlled.
(3) As for the user mechanism, a maximum of three axes per unit, i.e., the first, second and third axes,
can be controlled.
(4) The additional axes can be done the jog operation from the teaching pendant.
(5) The additional axes can be programmed with MELFA-BASICIV language method and
MOVEMASTER command method. However, the MOVEMASTER command method does not
correspond to the user mechanism function. Therefore, to program the user mechanism, use
MELFA-BASICIV language.
(6) The robot and robot additional axis can be synchronously controlled
(Refer to "this manual/7.5.2Synchronous control of robot additional axis (travel axis) ".).

3.4 Additional axis interface specifications

The additional axis interface specifications are as follows.
Item
Number of controllable
robots (mechanisms)
Number of control axes
Number of control axes
Applicable amplifier
Applicable encoder
Communication method
Number of mountable
additional axis cards
Program method
Control function
Path control method
Acceleration/
deceleration
Position control
Minimum command value
Maximum motion range
Note1) ABS means the absolute value encoder.
Note2) Additional axis cards are required only when the CR1/ CR1B/CR2A/CR2B controllers are used.
Note3) The minimum command value can be changed with the PRGDPNTM parameter. Specifying 2 will
set two decimal places and specifying 3 will set three decimal places. Do not specify 1 or smaller
value and 4 or larger value. When using values of ±1000.0 or larger, specify two decimal places.
However, the minimum command values for robots with mechanism numbers 2 and 3 will follow the
minimum command value for robots or mechanisms with mechanism number 1.
Note4) Limit for each operation can be set at any position. However, the free plane limit cannot be used.
Table 3.4.1 Additional axis interface specifications
Unit
Unit/Controller
Axis/Controller
Axis
MELSERVO-J2-Super series/ MELSERVO-J2 series
ABS method only
SSCNET (differential communication) of Mitsubishi
Cards/Controller
MELFA-BASICIV language
method and MOVEMASTER
CP control/PTP control
The trapezoidal method/acceleration/deceleration time
pattern can be set.
Distance control/angle control can be selected.
Actual value control with pitch/deceleration ratio setting
mm or deg
mm or deg
Specification of robot
additional axis
2
Note1)
1
command method
Synchronous interpolation control
0.01 or 0.001
Max. –80000.00(0) to +80000.00 (0)
3.Additional axis interface
Specification of user
mechanism
3
8
3
Note2)
MELFA-BASICIV
PTP control
Note3)
Note4)
7