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

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

Arm group setup procedure

Set the arm group with reference to "Registering extended-joints in an arm group".

Restarting the Controller

Restart the controller.

An error message [8540467* *-axis:Encoder System Down] is displayed. Press [Cancel] of the teach pendant to clear the error.

Checking the extended-joint motion

Create a sample program given below and run it to check the actual motion of extended-joints.

1

Create the following program.

Sub Main 'EX_TEST1
 TakeArm 1 Keep = 1
 DriveA @0 (7,100),S=100	'Move extended-joint
 Delay 100			'Timer
 DriveA @0 (7,6000) ,S=100	'Move extended-joint
 Delay 100			'Timer
 GiveArm
End Sub

2

Set the external speed to about 10%, run the above program, and check the actual motion of extended-joints.
If any error occurs, investigate the sliding resistance of the extended-joint(s) or other probable causes.