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

This section describes the necessary steps to startup the extended-joint (ball screw).

Description of each process

(1) Checking the cable connection

To check that the appropriate cables are connected to the controller.

(2) Disabling the robot arm (when necessary)

Invalid robot arm when necessary. Arm invalidation is required when you adjust the extended-joint without connecting to the robot.

(3) Enabling the extended-joint

To enable the extended-joint.

(4) Setting of the encoder ID

Set the ID of the extended-joint motor.

(5) Resetting encoders

To perform encoder reset when an encoder-related error occurs.

(6) Checking the Encoder Info

To check that the extended-joint encoders are normal status.

(7) Parameters configuration

To set the minimum parameters required manually moving extended-joints.

(8) Checking the encoder feedback

To check that the controller receives a correct response from the extended-joint encoder.

(9) Configuring Other Extended-Joint Parameters and CALSET Operation

To enter other minimum required parameters and perform CALSET.

(10) Setting up an Arm Group and Checking the Extended-Joint Motion

To perform arm group setup and the motion check of the extended-joint.

(11) Auto gain tuning

To perform Auto gain tuning.

(12) Checking the extended-joint motion in running-in

To create a sample program for running-in and run it to check the actual motion of extended-joints while increasing the external speed.

(13) Enabling the robot arm (when necessary)

Enable the robot arm if it is disabled.