Okura Yusoki A Series Manual page 7

2. Other parts that are changed / improved
(1) Process at R-axis reversing
If R-axis may possibly reverse when arm moves from one station to another in multi-station
layout.
Conventionally: Step 1 used to need to change overlapping to ZRO to protect R-axis gear
reducer from damaged.
In GenV: No problem with FUL overlapping.
Brief descriptions:
Conditions; Program switches over at PGS.
Previous MOV is not step 8. (Never wait when it switches at step 8)
Arm is moving.
MOV under operation is with FUL overlapping
The angle of R-axis reversing is over '1' degree
If the above conditions are satisfied, it waits for the period of deceleration time of MOV
execute by PGSEL.
(2) SP1 command
Such position commands as SP1, SP2, SP3 and SP4 are added.
Each position command can be used just one time per a program.
Each calculation formula of HX, HY, HT or HZ is defined as [Calculation type], [Argue1] or
Argue2].
Example)
(9)
In the above movement, you used to work as follows: copied and horizontally shifted planar
positions of step 7 for step 12 and 13. It used to be needed to repeat the same things to step 12 and
13 if step 7 was changed in position.
In GenV controller, you can define the position using SP1 or SP2.
Step 12, step command SP1
HX: (7) + 100
HY: copy (7)
HT: copy (7)
HZ: copy (7)
(5)
(6)
(7)
(12)
100 mm
7
(13)