Connection Configuration of Selective Extended Joints

The axis number of each connected selective extended joint is determined based on the connection order of selective extended joints. Whether selective extended joints are allocated to the master or slave controller is also determined based on the connection order.

Basically, selective extended joint connected nearer to the master controller are allocated to the master controller while further selective extended joint are allocated to the slave controller.

For example, if selective extended joint J7 is used for the master and slave controllers respectively, wiring is as shown in the right figure.
If selective extended joints J7 and J8 are used for the master and slave controllers respectively, wiring is as shown in the right figure.
When two selective extended joints are needed for the master and slave controllers respectively (a total of four), if only two are connected, an error occurs as shown in the right figure.