Chapter 5 Memory and Parameter
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6. Axis group parameter
(1) Basic setting
Basic setting item is explained as follows.
Configuration
Axis1~10
Set the axis which form axis group.
None,
1Axis ~ 32Axis(Real/Virtual axis),
33Axis ~ 36Axis(Virtual axis)
None
Interpolation
Set max speed of operation about axis group. Long Real(LREAL) Positive number 20000000 u/s
(a) Configuration axis setting
Set the number of each axis which belongs to the relevant axis group. Each axis group can include up to 10 axes.
Virtual axis can also be set in the axis group parameter.
Axis setting must be set in order in axis group which executes circular interpolation or helical interpolation command. In other
words, 「axis setting 1」 is X-axis of the arc, 「axis setting 2」 is Y-axis of the arc, and 「axis setting 3」 is Z-axis of helical
interpolation.
Therefore, if circular interpolation command is executed when setting the axis group, errors occur as follows.
- In case the axis group is comprised of 4 axes (error code: 0x20A9)
- In case the set value of 「axis setting 1」 or 「axis setting 2」 is ‘none’ (error code: 0x20AA)
- In case the set value of「axis setting 3」is 'none' and the remaining axes are set (error code: 0x20AA)
(b) Interpolation speed max
This refers to the configurable maximum speed of interpolation control operation when controlling interpolation with axes which
belongs to the relevant axis group.
In case of interpolation operation of the relevant axis group, interpolation speed must be set below the set Interpolation speed
max.
(2) Coordinate system setting
Coordinate system setting item is explained as follows.
Coordinate system
Set the type of robot that is applied in the operation
of coordinate system.
0: None,
1: XYZ
2: Delta3
3: Delta3R
4: LinearDelta3
0: None
Coordinate system
Set the parameters of the machine depending on
the type of coordinate system.
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