YASKAWA Motoman UP6 Instructions Manual page 273

Controller and manipulator
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*2
The axis types which can be set are shown.
The traveling axis for the ball-screw type should be selected as "BALL-SCREW," the
one for rack & pinion type should be selected as "RACK & PINION." Then the display
returns to the axes form display.
*3
The setting in the axes form display is completed and the display moves to the
mechanical specification display.
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 ROTATION type)
MOTION RANGE
REDUCTION RATIO :Input the numerator and the denominator.
OFFSET
A X E S C O N F I G
S1
: UNIV-3
AXIS
AXIS TYPE
B A L L - S C R E W
1
: B A L L - S C R E W
R A C K & P I N I O N
2
: RACK&PINION
R O T A T I O N
3
: ROTATION
!Maintenance Mode
Press [ENTER]
M E C H A N I C A L S P E C
S 1
:TURN-2
AXIS TYPE :ROTATION
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 )
OFFSET (AXIS#1-2)
!Maintenance Mode
:Input maximum moving position (+ direction and - direction) from
origin point. (Unit: deg)
<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.
:Offset should be specified at "TURN-2" type only.
input length between the center of bending axis (1st axis) and
the turning table (2nd axis). (Unit: mm)
4-17
4.2 Addition of Base and Station Axis
*2
Group, Type, Axis Number and
AXIS:1
Axis Type are displayed.
0.000
deg
The cursor is reversed.
0.000 deg
1.000
120.000
OFFSET is shown at 1st axis
10.000 mm
when the type is TURN-2 only.
*1
Select

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