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ID : 10988

How to Configure the Auxiliary Axis Mechanism

To configure the mechanism using the auxiliary axis function, you need to connect the RC9 controller to servo amplifiers and specify related parameters

Configure the mechanism in the following order.

Be sure to connect devices correctly and set parameters properly when using the auxiliary axis function.

  1. Hardware Connection Structure
  2. Disable the Robot Arms
  3. Enable Auxiliary Axes
  4. Reset the Encoder
  5. Check the Encoder Feedback
  6. Auxiliary Axis Parameter Settings
  7. Boundless Rotation of Auxiliary Axes
  8. Link Information Setting
  9. Set the Radius of Gyration
  10. Register Auxiliary Axes in an Arm Group
  11. Check the Wiring
  12. Execute CALSET
  13. Motion Check
  14. Auto Gain Tuning Procedure
  15. Check the Auxiliary Axis Motion in Running-in
  16. Enable the Robot Arms

If auxiliary axes do not work properly, refer to When Auxiliary Axis Motors Do Not Work Properly.

ID : 10988

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