YASKAWA Motoman UP6 Instructions Manual page 270

4.2 Addition of Base and Station Axis
*2
Type selection display is shown.
*3
After the type selection, the display returns to control group display.
When the station type is not "TURN-1" and "TURN-2" (like a traveling axis) "UNIVER-
SAL" should be selected. When "UNIVERSAL" is selected, interpolation motion (linear,
circular, etc.) is not supported.
TURN-1
TURN-2
If the number of axes is set beyond 27, error occurs.
M A C H I N E L I S T
N O N E TURN-1
T U R N-2 UNIV-1
UNIV-2 UNIV-3
UNIV-4 UNIV-5
UNIV-6
!Maintenance Mode
OFFSET
TURN-1:TURN 1 AXIS STATION
T U R N - 2 : T U R N 2 A X E S S T A T I O N
UNIV-1:UNIVERSAL 1 AXIS STATION
UNIV-2:UNIVERSAL 2 AXES STATION
.....
STATION 1ST AXIS
STATION 2ND AXIS (ROTATION TABLE)
STATION 1ST AXIS (INCLINATION AXIS)
4-14