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YASKAWA Motoman UP6 - Page 273

YASKAWA Motoman UP6
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4.2 Addition of Base and Station Axis
4-17
*2
The axis types which can be set are shown.
The traveling axis for the ball-screw type should be selected as “BALL-SCREW,” the
one for rack & pinion type should be selected as “RACK & PINION.” Then the display
returns to the axes form display.
*3
The setting in the axes form display is completed and the display moves to the
mechanical specification display.
In the mechanical specification display, mechanical data are specified.
*1
The mechanical specification is shown.
The mechanical specification display (In case of ROTATION type)
MOTION RANGE :Input maximum moving position (+ direction and - direction) from
origin point. (Unit: deg)
REDUCTION RATIO :Input the numerator and the denominator.
<e.g.> If the reduction ratio is 1/120, the numerator should be
set as 1.0 and the denominator should be set as 120.0.
OFFSET :Offset should be specified at “TURN-2” type only.
input length between the center of bending axis (1st axis) and
the turning table (2nd axis). (Unit: mm)
Confirm specification of each axis in the mechanical specification display
*1
Select
desired item Input the value Press [ENTER]
*2
AXES CONFIG
S1 : UNIV-3
AXIS AXIS TYPE
1 : BALL-SCREW
2 : RACK&PINION
3 : ROTATION
!Maintenance Mode
RACK&PINION
ROTATION
BALL-SCREW
Operation
Explanation
MECHANICAL SPEC
S1 :TURN-2 AXIS:1
AXIS TYPE :ROTATION
MOTION RANGE (+) 0.000 deg
MOTION RANGE (-) 0.000 deg
REDUCTION RATIO(NUMER) 1.000
REDUCTION RATIO(DENOM) 120.000
OFFSET (AXIS#1-2) 10.000 mm
!Maintenance Mode
OFFSET is shown at 1st axis
when the type is TURN-2 only.
Group, Type, Axis Number and
Axis Type are displayed.
The cursor is reversed.

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