Index

EXTENDED-JOINT MANUAL

    > Overview

    > System Components

        > Precautions for Safe Use of the Robot System

        > Extended-Joint Support Controller

            > Customized Controller

            > Total Output Capacity for Extended-Joint Motors

        > Encoder HUB

        > Connect Cables to the Robot Controller

            > Encoder Backup Battery

            > Caution for Wiring

        > Brake Release Harness for RC8 Extended-joint/MC8 UL-Listed Model

        > Options for Extended-Joint

    > Engineering Design of Servo Mechanism

        > Design Example (High-Speed Transfer Equipment)

            > Selection of Screw Shaft Dia., Lead and Nut

            > Selection of Accuracy and Clearance

            > Results

        > Notes for Designing

            > Sliding Resistance of Ball Screw

            > Gear Sliding Resistance

    > Choosing AC Servo Motors

        > Knowledge Required for Selection of Servomotors

        > List of AC Servo Motors

        > Motor Characteristics Lists

            > Motor capacity : 1000W (Square 100mm)

            > Motor capacity : 750W (Square 100mm)

            > Motor capacity : 750W (Square 80mm)

            > Motor capacity : 400W (Square 80mm)

            > Motor capacity : 400W (Square 60mm)

            > Motor capacity : 200W (Square 60mm)

            > Motor capacity ：100W (Square 60mm)

            > Motor capacity ：100W (Square 40mm)

            > Motor capacity : 50W (Square 40mm)

            > Motor capacity : 30W (Square 40mm)

        > Specification Details

        > Safety Rules for Using Motors

    > Extended-Joint Related Functions

        > Operation from the Teach Pendant

            > Registering Extended-Joints in an Arm Group

            > Boundless Rotation of Extended-Joints

            > Setting the Link Info

            > Setting the Radius of Gyration

            > Operating Extended-Joints Manually

            > Getting Extended-Joint Positions

            > Operating Extended-Joints by Specifying a Desired Variable

        > Setting procedure of the Encoder ID

    > Parameters Configuration

        > Preparation for the Gain Tuning

            > Resetting the Encoder

            > Setting the Path Configuration Parameters

            > Setting the Servo Configuration Parameters

                > ServoLog

                > Graphing the monitored servo data

            > Registering Extended-Joints in an Arm Group

            > Checking the Wiring

            > Executing CALSET

            > Motion Check

        > Auto Gain Tuning Procedure

        > Manual Gain Tuning

            > Operating Procedure for Manual Gain Tuning

            > Quick Tuning Function for Speed Control System Gain

        > Enabling/Disabling the Robot Arm

        > Outputting a List of Joint Parameter Settings (Using WINCAPSIII)

    > Start-up procedure of the extended-joint (ball screw)

        > Checking the Cable Connection

        > Disabling the Robot Arm

        > Enabling the extended-joint

        > Setting of the Encoder ID

        > Resetting the Encoder

        > Checking the Encoder Info

        > Parameters Configuration

        > Checking the Encoder Feedback

        > Configuring Other Extended-Joint Parameters and CALSET Operation

        > Setting up an Arm Group and Checking the Extended-Joint Motion

        > Auto Gain Tuning

        > Checking the Extended-Joint Motion in Running-in

        > Enabling the Robot Arm

    > When Extended-Joint Motors Do Not Work Properly

        > Check Points When an Encoder Data Error Occurs