YASKAWA Motoman UP6 Instructions Manual page 274

Controller and manipulator
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4.2 Addition of Base and Station Axis
TURN-2
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
OFFSET
M E C H A N I C A L S P E C
S1
:UNIV-3
A X I S T Y P E : B A L L - S C R E W
MOTION RANGE (+)
MOTION RANGE (-)
REDUCTION RATIO(NUMER)
REDUCTION RATIO(DENOM)
BALL-SCREW PITCH
!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
S1
:UNIV-3
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)
4-18
STATION 2ND AXIS (ROTATION TABLE)
STATION 1ST AXIS (INCLINATION AXIS)
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
AXIS:2
and 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

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