- Servo set: Mitsubishi Electric MR-J3-B or MR-J4-B series (amplifier+motor)
- Serwo battery: MR-J3BAT (connect to servo amplifier)
- Fiber cable: MR-J3BUS3M
- RT Toolbox3
- MR Configurator2
Connect the fiber cable to AXIS connector in controller and CN1A in serwo amplifier. Follow the pictures below.
Servo settings in MR Configurator2
Connect directly to serwo amplifier by USB mini cable. Run MR Configurator2 and set a parameter in picture below.
f you don’t have emergency button connected then deactivate Forced Stop function. Otherwise the emergency error will occur.
Anyway it is recommended to connect emergency wiring from the beginning of work (details in ROBOT ADDITIONAL AXIS FUNCTION MANUAL or SERWO MANUAL).
If a robot is stopped by Emergency Stop function, the additional robot axes will be also stopped. The signal is sent by fiber cable.
Write the parameters and perform servo restart.
1. Open Robot additional axis parameters in RT Toolbox3.
2. AXUNUM parameter set to “1” (one additional mechanism existance).
3. Select first line in a table (first additonal servo)
4. Click Set... button
Additional axis 1 parameter window will appear. Set basic settings.
AXMENO – mechanism number (1 – robot, 2 – additional mechanism); set 2 for rotary table
AXJNO – axis number in a specified mechanism; set J1 axis for rotary table (first axis in mechanism no 2)
AXGRTN, AXGRTD – insert mechanical gear ratio of your rotary table
AXUNIT – choose unit system; set 0:deg for rotary table
MEJAR – insert low and hight movement limits. Watch out the limitation for movements limits min/max values (see the manual)
AXSPOL – set rotation direction
The other parameters can be left default.
Write the parameters and perform robot restart.
The additional axis now should be recognized. In servo display "b01" message should appear.
At first running the origin settings must be done for the additional axis.
Move the additional mechanism (rotary table) to the position where zero will be set and perform origin setting. Follow the picture below.
Now the additional mechnism is ready for usage.
JOG in additional mechanism
Use a robot Teaching Box. Switch to mechanism number 2 (2:USER).
And like with robot: perform SERVO ON and use +/- buttons for mechanism control.
Additional mechanism is controlled from separate program (multitasking mode)
Each program must start with GetM command (GetM 1 for robot program, GetM 2 for mechanism program)
Data exchange between programs is performed by external (global) variables (use predefined M_00, M_01,…, P_00, P_01,… or user defined)
'pr1 main program (robot arm)
M_01=0 'global variable 1
M_02=0 'global variable 2
If M_Svo(1)=0 Then Servo On
If M_Run(2)=0 Then XRun 2,"pr2" 'run Program 2 for additional mechanism
m_01=1 'add mech movement permission
wait m_02=1 'wait for add mech movement end
'pr2 second program (additional mechanism)
If M_Svo(2)=0 Then Servo On
wait m_01=1 'wait for movement permission
m_02=1 'end movement confirmation