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ID : 10950
Overview
Auxiliary axis function
The auxiliary axis function allows you to control extra axes (auxiliary axes), which are not robot joints, through the standardized interface of the RC9 series robot controller.
The function drives a motor using the servo amplifier connected to the RC9 robot controller via an EtherCAT cable.
For how to connect the RC9 controller to a servo amplifier, refer to this page.
When using the auxiliary axis function with the servo amplifier custom setting disabled, be sure to use a servo amplifier in the factory default state.
The auxiliary axis function requires a license.
If you purchase a license separately, refer to [License Registration] to register your license.
Set auxiliary axis parameters
To use the auxiliary axis function, you need to adjust the following three types of settings: “Servo Amp Parameter Setting”, which determines parameters (servo amplifier model, encoder resolution, and others) for the servo amplifier to be used, “Path Parameter Setting”, which determines the auxiliary axis operation conditions (speed, acceleration, motion range, and others), and “Servo Parameter Setting”, which determines the gain of the auxiliary axis servo system and others.
Never turn on the motor before properly setting the parameters for the auxiliary axis function.
Gain tuning for auxiliary axes
The auto gain tuning function automatically adjusts the gain of auxiliary axes by using RC9 controller functions.
- Auto gain tuning
- The RC9 robot controller performs acceleration/deceleration operation of the auxiliary axes according to the default pattern preset in the controller. Based on the motion of the auxiliary axes in that operation, the controller will estimate the inertia of payload and set the appropriate gain automatically. With this method, you can easily do gain tuning of the auxiliary axis motors.
Servo amplifier custom setting
The servo amplifier custom setting allows you to select a control mode and adjust settings such as gain tuning by using setting tools provided by a servo amplifier maker instead of using RC9 controller functions.
ID : 10950