Contents
Preface
How the documentation set is organized
SAFETY PRECAUTIONS
Chapter 1 Overview.......................................................................................................................................................... 1
1.1 System Configuration............................................................................................................................................ 1
1.2 Standard Items Contained in the Package ............................................................................................................. 2
1.3 Optional Items....................................................................................................................................................... 3
1.4 Controller Specification ........................................................................................................................................ 6
1.5 Outer Dimensions of the Controller ...................................................................................................................... 8
1.6 Names of the Controller Components ................................................................................................................... 9
1.7 Precautions for Safe Use of the Robot System.................................................................................................... 11
Chapter 2 Engineering Design of Servo Mechanism ................................................................................................... 12
2.1 Designing the Servo Mechanism......................................................................................................................... 12
2.1.1 Example of the Mechanism.................................................................................................................
12
2.1.2 Selection of the Drive System.............................................................................................................
12
2.1.3 Design Example (High-Speed Transfer Equipment)...........................................................................
13
2.1.4 Notes for Designing ............................................................................................................................
20
2.2 Knowledge Required for Selection of Servomotors............................................................................................ 22
Chapter 3 Choosing AC Servomotors ........................................................................................................................... 28
3.1 AC Servomotors.................................................................................................................................................. 28
3.1.1 List of AC Servomotors ......................................................................................................................28
3.1.2 Cable End Treatment of AC Servomotors When Shipped ..................................................................
29
3.1.3 Motor Characteristics Lists .................................................................................................................
30
3.1.4 Specification Details ...........................................................................................................................
32
3.2 External Dimensions of AC Servomotors ........................................................................................................... 35
Chapter 4 Configuring the Joint Parameters............................................................................................................... 41
4.1 Path Configuration Parameters............................................................................................................................ 41
4.2 Servo Configuration Parameters ......................................................................................................................... 44
4.3 Arm Configuration Parameters ........................................................................................................................... 47
4.3.1 Setting the Speed Reduction Rate in Manual Operation.....................................................................
48
4.4 Outputting a List of Joint Parameter Settings (Using WINCAPSIII).................................................................. 49
4.5 Detailed Description of Joint Parameter Setting ................................................................................................. 50
4.6 Configuring Motors as Robot Joints or Extended-Joints..................................................................................... 56
4.6.1 Robot Joints.........................................................................................................................................
56
4.6.2 Extended-Joints...................................................................................................................................
57
4.6.3 Usable Functions in Robot and Extended-Joint Motion (Examples) ..................................................
57
4.6.4 Configuring Robot Joints ....................................................................................................................
58
4.7 Gain Tuning of Each Joint................................................................................................................................... 59
4.7.1 Auto Gain Tuning................................................................................................................................
60
4.7.2 Manual Gain Tuning ...........................................................................................................................
64
4.8 Joint Exclusive Operations.................................................................................................................................. 71
4.8.1 Performing CALSET Operation on Each Joint ...................................................................................
71
4.8.2 Releasing or locking brakes ................................................................................................................
72
4.8.3 Direct Teaching Mode.........................................................................................................................
74
4.8.4 Resetting Encoder ...............................................................................................................................
76
4.8.5 Operating Extended-Joints ..................................................................................................................
77
4.8.6 Programmed Operation in SMT7 (Description of arm groups) ..........................................................
78
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