Expansion Axis Setting - Okura Yusoki A Series Original Instructions Manual

5.14. Expansion Axis Setting

This screen is for setting
expansion axis.
The directory to expansion axis
setting is as follows.
System storage menu
↓
Motor axis data
↓
Expansion axis setting
Note) Amp unit is required to add expansion axis.
１．Set expansion axis
Select type of servo motor to be installed.
２．Relationship between expansion axis and C axis
What is difference from expansion axis to be used as C axis from not as C axis.
For C axis
Control Robot sequence commands
method
（HMOV/HMOVD/TRQC）
*Can
robot sequence.
Step Store per every program
storing
Max 9 steps per a program
３．Coordinates offset
・For the expansion axis that [Not use as C axis] is selected, enter the distance of offset
off the position where encoder origin is stored. Normally don't need to enter as those
are the exact same position.
・For the expansion axis that [Use as C axis] is selected, enter the distance between
palms (paddles) where encoder origin is stored. Normally don't need to enter as those
are the exact same position.
４．Operation range+-
Enter operation range for the expanded area.
５．Acceleration / deceleration time
Enter Acceleration / deceleration time.
６．Axis accuracy
be synchronized
Not for C axis
Built-in PLC commands
（EXMOVA/EXMOVR）
with
Stored per every axis
Max 99 steps per a axis
5-17