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(1) Robot number (AXMENO), axis number (AXJNO)
It is necessary to set parameters at the robot controller side in order for the robot controller to
recognize the force sense interface unit. Set these parameters as follows. (The same parameters as
that for the additional axis function are used.)
Parameter
Parameter
Name
Set axis No.
AXJNO
Mechanical
AXMENO
No.
designation
<If not using additional axis functions>
Set these parameters as follows if not using the additional axis functions.
AXJNO = (9, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0)
AXMENO = (1, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0)
<If using additional axis functions>
AXJNO = (9, 7, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0)
AXMENO = (1, 1, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0)
<Connection example>
Force sense
interface unit
Robot
controller
1st station
The 1st station is used by the force sense interface unit, and therefore rotary switch 0 cannot be
used for the additional axis (MR-J3B). Set to 1 or onward.
Up to 7 additional axes (from 2nd to 8th stations) can be used.
No. of
Elements
16
Sets the force sense interface unit or
integers
additional axis number for the element
corresponding to the servo control axis
number being used.
<If using force sense interface unit>
Servo control axis No.: Set "9" for axis No.1.
16
Enter a mechanical number corresponding
integers
to the servo control axis number being
used. Always set "0" for axes that are not
being used.
<If using force sense interface unit>
Servo control axis No.: Set "1" for axis No.1.
MR-J4B (J7-axis)
(Rotary switch: 1)
2nd station
8th station
-36-
Description
Factory Default
Setting
0, 0, 0, 0, 0, 0,
0, 0, 0, 0, 0, 0,
0, 0, 0, 0
0, 0, 0, 0, 0, 0,
0, 0, 0, 0, 0, 0,
0, 0, 0, 0
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