Mitsubishi CRn-500 Series Instruction Manual page 34

7.Setting, Operation and Command Explanation of Robot Additional Axis
(1) AXUNUM (number of multi mechanisms used)
This parameter designates how many mechanisms are connected when the additional axis is used
as the multi mechanism. To control the additional axis in synchronization with the robot arm, be sure
to set "0" at (robot additional axis).
When it is used as the robot additional axis,
(2) AXMENO (mechanism No. designation)
This parameter sets which mechanism the servomotor connected to the servo amplifier is
connected to regarding each axis. To control the additional axis in synchronization with the robot
arm, be sure to set "1" at (robot additional axis).
[Example]
When the servomotor set "Control axis No. of servo" as the 1st axis is controlled in synchronization
with the robot arm (mechanism No. 1), set the AXMENO parameter as follows.
AXMENO = 1, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0 (Set "1" to the 1st element.)
(3) AXJNO (Setting axis No.)
Regarding each axis, this parameter sets what number axis of the robot or mechanism the
servomotor is used. To change an axis No. which has been set once (example: 7th axis → 8th axis),
first set "0" at AXMENO and turn the power supply of the controller from OFF to ON. The default
value is "0".
Additional axis 1
Additional axis 2
[Example]
When the servomotor set "Control axis No. of servo" as the 1st axis is used as the additional axis 1,
AXJNO = 7, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0 (Set "7" to the 1st element.)
(4) AXUNT (unit system)
Regarding each axis, this parameter sets the unit system of the servomotor, which can be used.
Used as the linear drive axis (Unit: mm)
Used as the rotation axis. (Unit: degree) (Default value)
[Example]
When the servomotor set "Control axis No. of servo" as the 1st axis is used as the linear drive axis
(Unit: mm),
AXJNO = 1, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0 (Set "1" to the 1st element.)
(5) AXSPOL (motor rotation direction)
Regarding each axis, this parameter sets in which direction the servomotor is rotated when the joint
position data is increased. The rotation direction is illustrated in the parameter details of "Instruction
Manual for Servo Amplifier".
Moreover, set the rotation direction with the robot controller.
Forward run (CCW) (default value) as the value of the joint
coordinate is increased
Reverse run (CW) as the value of the joint coordinate is increased
Here, be sure to set "POL" parameter of the basic parameter No. 7 of the servo amplifier to "0"
(CCW).
[Example]
When the rotation direction of the servomotor set "Control axis No. of servo" as the 1st axis is
reversed as the joint position data is increased,
AXSPOL = 1, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0 (Set "1" to the 1st element.)
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