Restrictions

Hardware Restrictions

• Since EtherCAT master board (selective extended joint) mounts to PCI slot, the functions of mounting board to PCI slot (Parallel I/O etc) cannot be used.
• Connection structures of robot controller and external devices supported EtherCAT Slave do not correspond with ring network.

Software Restrictions

The joints set to the selective extended joint have some restrictions below.

Functions that cannot be Used with the Selective Extended Joint (EtherCAT)

• Auto Gain Tuning
• Setting the Servo Configuration Parameters (except Joint enable/disable setting)
• EtherCAT Slave Motion Function
• Safety Motion Function

Functions Partially Restricted

• The load factor of the selective extended joint cannot be obtained. Some manufacturers of external devices that run as slave devices set restrictions of log data.
  

  Manufacturer	Control Log
  	Load factor	Current value
  SANYO DENKI CO.,LTD.	Acquisition unavailable	○
  YASKAWA Electric Corporation		※1
  Delta Electronics, Inc.		○
  Panasonic		○
  HIWIN		※2

  
  

  Manufacturer	Servo Log
  	Torque instruction	Current value
  SANYO DENKI CO.,LTD.	※2	○
  YASKAWA Electric Corporation	○	※1
  Delta Electronics, Inc.	○	○
  Panasonic	○	○
  HIWIN	※2	※2

  
  

  Manufacturer	GetSrvData
  	Load factor	Torque instruction	Current value
  SANYO DENKI CO.,LTD.	Acquisition unavailable	※2	○
  YASKAWA Electric Corporation		○	※1
  Delta Electronics, Inc.		○	○
  Panasonic		○	○
  HIWIN		※2	※2

  
  ※1 Torque instruction value is displayed as the ratio against the rated value.
  ※2 Torque actual value is displayed as the ratio against the rated value.
• Current Limiting Function (Ver.2.3.* or higher)
  Upper value of current limiting that can be set with CurLmt command is the max torque that was read when established a connection with an amplifier on extended joint board.
• Cooperative Control Function (Ver.2.3.* or higher)
  The functions of cooperative control function, which used Ethernet communication only, and extended joint board cannot be used at the same time.

Functions that cannot be Used with Teach Pendant

• Brake Setting
  Unable to operate.
• Encoder Info
  Shown in gray.
• Reset Encoder
  Unable to operate.
• Servo Parameter
  Other than "Joint enable/disable setting" is unable to edit.
• Motor Setting
  When the license of selective extended joint is valid, "Connection setting, Model number, Encoder resolution" are displayed to add, but are unable to edit.
• Auto Gain Tuning
  Unable to select.

Functions that cannot be Used with Mini Pendant

• Brake
  Selective extended joint are not displayed.
• EncReset
  Error dialogue is displayed.

License Restrictions (Ver.2.2.*)

If added the both licenses of Selective Extended Joint Function and Cooperative Control Function (Master or Slave) at the screen of Function extension, an error occurs at the robot controller startup. One of the licenses of Selective Extended Joint Function and Cooperative Control Function shall be deleted.

Other Precautions

• After starting up the external device that is Slave, startup the robot controller. Depending on the startup-timing, it may fail to connect. If an error occurs, restart the robot controller and external device.
• When restart the external device and the robot controller, be sure to turn on the powers of the external device and the robot controller again.
• In Ver.2.2.*, Selective Extended Joint Function cannot be used with MC8 series.
• Depending on the number of the connection and/or the size of Selective extended joint, a few minutes could be required for the connection.