YASKAWA Motoman UP6 Instructions Manual page 266

Controller and manipulator
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4.2 Addition of Base and Station Axis
In the mechanical specification display, mechanical data are specified.
Operation
Confirm specification of each axis in the mechanical specification display
desired item
Input the value
Explanation
*1
The mechanical specification is shown.
The mechanical specification display (In case of BALL-SCREW type)
MOTION RANGE
REDUCTION RATIO :Input the numerator and the denominator.
BALL-SCREW PITCH :Input the traveling length when the ball-screw rotates once.
The mechanical specification display (In case of RACK & PINION type)
MOTION RANGE
REDUCTION RATIO :Input the numerator and the denominator.
PINION DIAMETER :Input the diameter of a pinion. (Unit: mm)
Press [ENTER]
M E C H A N I C A L S P E C
B1
:RECT-XYZ
A X I S T Y P E : B A L L - S C R E W
M O T I O N R A N G E ( + )
M O T I O N R A N G E ( - )
R E D U C T I O N R A T I O ( N U M E R )
R E D U C T I O N R A T I O ( D E N O M )
B A L L - S C R E W P I T C H
!Maintenance Mode
:Input maximum moving position (+ direction and - direction) from
origin point. (Unit: mm)
<e.g.> If the reduction ratio is 1/2, the numerator should be set
as 1.0 and the denominator should be set as 2.0.
(Unit: mm/r)
M E C H A N I C A L S P E C
B1
:RECT-XYZ
A X I S T Y P E : R A C K & P I N I O N
M O T I O N R A N G E ( + )
M O T I O N R A N G E ( - )
R E D U C T I O N R A T I O ( N U M E R )
R E D U C T I O N R A T I O ( D E N O M )
P I N I O N D I A M E T E R
!Maintenance Mode
:Input maximum moving position (+ direction and - direction) from
origin point. (Unit: mm)
<e.g.> If the reduction ratio is 1/120, the numerator should be set
as 1.0 and the denominator should be set as 120.0.
4-10
*2
Group, Type, Axis Number
AXIS:1
and Axis Type are displayed.
0.000
m m
The cursor is reversed.
0.000 mm
1.000
2.000
10.000 mm/r
Group, Type, Axis Number and
AXIS:2
Axis Type are displayed.
0.000
m m
The cursor is reversed.
0.000 mm
1.000
120.000
1 0 0 . 0 0 0 m m
*1
Select

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