Mitsubishi CRn-500 Series User manual

MITSUBISHI
Mitsubishi Industrial Robot
CRn-500 series INSTRUCTION MANUAL
ADDITIONAL AXIS INTERFACE
BFP-A8107-E

Supplemental Instruction
About the power supply synchronization with the robot controller.
Thank you for purchasing the Mitsubishi Industrial Robot MELFA Series.
This document explains the circuit connection for enhancing the safety in the addition axis connection system of
the Mitsubishi Electric industrial robot.
Therefore, check the content, and make correct circuit connection.
<Supplementary contents >
How to synchronize the power supply of the robot controller and the servo amplifier for addition axes is shown. So,
the servo ON/OFF state of the addition axis can be synchronized with the servo ON/OFF state of the robot arm.
However, when using the CR1-571/CR1B-571 controller, the servo sequence of the robot controller and the
synchronization cannot be taken. Therefore, please make the sequence by the customer using the external
input/output function of controller attachment. Table 1 shows the difference of function between the CR1/CR1B
controller and CR2A/CR2B/CR3/CR4/CR7/CR8 controller.
󲨘
Table 1:The state of Magnet contactor control output of addition axis in using the addition axis function.
MODE
switch
T/B
Existence
T/B
Ena/Dis
switch
REMOVE
T/B
switch
Note2󳊊
T/B
Deadman
switch
Note2󳊊
Servo
ON/OFF
state
CR1
CR1B
CR2A
CR2B
CR4,CR3
CR7,CR8
1󳊎󳊎󳊎󳊎 󳊎 󳊎
The emer
g
enc
y
stop switch
was pushed from the control
p
anel.
OFF 󳁟󳁟 󳁟
2󳊎󳊎󳊎󳊎 󳊎 󳊎
The external emergency stop
si
g
nal is active. OFF 󳁟󳁟 󳁟
3󳊎󳊎󳊎󳊎 󳊎 󳊎
The emergency stop switch
of T/B was
p
ushed. OFF 󳁟󳁟 󳁟
4 AUTO Exists Disable 󳊎OFF ON OFF 󳁟󳁟 󳁟
5 AUTO Exists Disable 󳊎󳊎ON OFF 󳁟󳁟 󳁟
6 TEACH Exists Enable OFF ON ON Keep ON × × ×
7TEACH Exists 󳊎󳊎 ON OFF OFF × 󳁟󳁟
8TEACH Exists 󳊎󳊎OFF OFF OFF 󳁟󳁟 󳁟
9 TEACH None 󳊎󳊎 󳊎ON Keep ON × × ×
10 󳊎󳊎󳊎󳊎 󳊎 󳊎The servo error occurred OFF × 󳁟󳁟
11 󳊎󳊎󳊎󳊎 󳊎 󳊎
The power supply was
turned off OFF 󳁟󳁟 󳁟
State of the output contact
classified by controller
Note 3)
The servo
ON/OFF
state of the
robot arm
Note 1󳊊It is shown that "-" does not ask the state at that time.
No
The trigger to which the
servo ON/OFF state of the
robot arm is changed .
The operation state and the servo ON/OFF condition of the robot arm
Note 1)
The door switch is opened.
Note 2󳊊ON:The switch pushed in, OFF: The switch sticks out
Note 3󳊊In the case of the CR1/CR1B controller, shows the contact state of the emergency stop output.
In the case of the CR2A, CR2B, CR3, CR4, CR7, and the CR8 controller, shows the contact state of the main circuit contact control output for
󳁟󳊛 Contact opening, ×󳊛Contact closing
󲨘
󲨘
CAUTION Please refer to the example of the circuit shown in this document, and make circuit
connection which can take the power supply synchronization of the robot controller
and the servo amplifier for addition axes. When that is not right, the cases where
servo-off of no axes including the addition axis is occur, and it becomes the cause of
the damage or the personal injuries.
󲨘
󲨘
󲨘
BFP-A8107-C03-A
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1. The outline diagram of addition axis system
RZ541A SSCNET cable
CN2 cable (Fixing)
CN1 cable (Fixing)
< Robot controller>
ENC cable
T/B
NV
MC2
L1/L2/L3
L11/L12
Servo AMP
A6-BAT
MC1
<Robot>
<Addition axis amplifier box>
Fig. 1󳊛Outline diagram of addition axis system
CAUTION Please arrange the required electric parts to the appropriate position after
reading carefully the technical data of general-purpose servo amplifier.
2. The power supply synchronization, the main circuit power supply control for addition axes. (Example)
The example of the standard circuit of the power supply synchronization with addition axis servo amplifier and the
main circuit power supply control for addition axes is shown below corresponding to the robot controller.
Refer to each figure, and make circuit connection which can take the power supply synchronization of the robot
controller and the servo amplifier for addition axes󲨘󲨘
NV MC MC
Terminal
To the internal circuit
Use the emergency
stop output terminal.
<Robot controller>
EMGOUT
<Addition axis amplifier box>
BB
Parallel I/O Dedicated
Output "SRVON"
24V
24V Note)
1)Please preapre 24V Power Supply and RA1, 2.
2)Electric specification of EMGOUT : DC24V / 1A
3)Electric specification of Parallel I/O : DC24V / 0.1A
4)Please choose parts which agree with the specification. (RA1, 2)
RA1
RA2
*1) Get the power supply for the controller from the secondary terminal of
short circuit breaker (NV) built in the Addition axis amplifier box.
*2) Get the power supply for the MC synchronization from the secondary
terminal of short circuit breaker (NV) installed outside the controller.
Fig. 2󳊛Example of the standard circuit (CR1/CR1B controller)
BFP-A8107-C03-A
2/3

NV MC
To the internal circuit
<Robot controller>
*2) Get the power supply for the MC synchronization from the secondary termi-
nal of short circuit breaker (NV) built in the controller.
A
XMC is outputted
from the spare con-
tact for internal
servo power sup-
plies.
<Addition axis amplifier box>
AXMC1 Note)
*1) Get the power supply for the controller from the secondary terminal of short circuit
breaker (NV) built in the Addition axis amplifier box.
NV
1
2
Note) Electric specification
AC3 class(AC200 to 220V) 6A
AC2 class(DC24V)12A
MC
Fig. 3󳊛Example of the standard circuit (CR2A/CR2B controller)
󲩆󲩎 󲩅󲨻 󲩅󲨻
󲩆󲩎
󲨩
󲨪
*1) Get the power supply for the controller from the secondary terminal of
short circuit breaker (NV) built in the Addition axis amplifier box.
*2) Get the power supply for the MC synchronization from the secon-
dar
y
terminal of short circuit breaker
(
NV
)
built in the controller.
To the internal circuit
AXMC1 Note)
A
XMC is outputted
from the spare con-
tact for internal
servo power sup-
plies.
<Robot controller>
<Addition axis amplifier box>
Note) Electric specification
AC15 class(AC200V) 5A
AC13 class(DC48V)3A
Fig. 4󳊛Example of the standard circuit󳊉CR3/CR4/CR7/CR8 controller󳊊
BFP-A8107-C03
3/3

Always read the following precautions and the separate
"Safety Manual" before starting use of the robot to learn the
required measures to be taken.
Safety Precautions
All teaching work must be carried out by an operator who has received special training.
(This also applies to maintenance work with the power source turned ON.)
-> Enforcement of safety training
For teaching work, prepare a work plan related to the methods and procedures of
operating the robot, and to the measures to be taken when an error occurs or when
restarting. Carry out work following this plan. (This also applies to maintenance work with
the power source turned ON.)
-> Preparation of work plan
Prepare a device that allows operation to be stopped immediately during teaching work.
(This also applies to maintenance work with the power source turned ON.)
-> Setting of emergency stop switch
During teaching work, place a sign indicating that teaching work is in progress on the
start switch, etc. (This also applies to maintenance work with the power source turned
ON.)
-> Indication of teaching work in progress
Provide a fence or enclosure during operation to prevent contact of the operator and
robot.
-> Installation of safety fence
Establish a set signaling method to the related operators for starting work, and follow this
method.
-> Signaling of operation start
As a principle turn the power OFF during maintenance work. Place a sign indicating that
maintenance work is in progress on the start switch, etc.
-> Indication of maintenance work in progress
Before starting work, inspect the robot, emergency stop switch and other related devices,
etc., and confirm that there are no errors.
-> Inspection before starting work
CAUTION
CAUTION
WARNING
CAUTION
CAUTION
CAUTION
CAUTION
WARNING

The points of the precautions given in the separate "Safety Manual" are given below.
Refer to the actual "Safety Manual" for details.
Use the robot within the environment given in the specifications. Failure to do so could
lead to a drop or reliability or faults.
(Temperature, humidity, atmosphere, noise environment, etc.)
Transport the robot with the designated transportation posture. Transporting the robot in
a non-designated posture could lead to personal injuries or faults from dropping.
Always use the robot installed on a secure table. Use in an instable posture could lead to
positional deviation and vibration.
Wire the cable as far away from noise sources as possible. If placed near a noise source,
positional deviation or malfunction could occur.
Do not apply excessive force on the connector or excessively bend the cable. Failure to
observe this could lead to contact defects or wire breakage.
Make sure that the work piece weight, including the hand, does not exceed the rated
load or tolerable torque. Exceeding these values could lead to alarms or faults.
Securely install the hand and tool, and securely grasp the work piece. Failure to observe
this could lead to personal injuries or damage if the object comes off or flies off during
operation.
Securely ground the robot and controller. Failure to observe this could lead to mal-
functioning by noise or to electric shock accidents.
Indicate the operation state during robot operation. Failure to indicate the state could
lead to operators approaching the robot or to incorrect operation.
When carrying out teaching work in the robot's movement range, always secure the
priority right for the robot control. Failure to observe this could lead to personal injuries or
damage if the robot is started with external commands.
Keep the jog speed as low as possible, and always watch the robot. Failure to do so
could lead to interference with the work piece or peripheral devices.
After editing the program, always confirm the operation with step operation before
starting automatic operation. Failure to do so could lead to interference with peripheral
devices because of programming mistakes, etc.
Make sure that if the safety fence entrance door is opened during automatic operation,
the door is locked or that the robot will automatically stop. Failure to do so could lead to
personal injuries.
Never carry out modifications based on personal judgments, or use non-designated
maintenance parts. Failure to observe this could lead to faults or failures.
When the robot arm has to be moved by hand from an external area, do not place hands
or fingers in the openings. Failure to observe this could lead to hands or fingers catching
depending on the posture.
Do not stop the robot or apply emergency stop by turning the robot controller's main
power OFF. If the robot controller main power is turned OFF during automatic operation,
the robot accuracy could be adversely affected. Moreover, it may interfere with the
peripheral device by drop or move by inertia of the arm.
Do not turn of the main power to the robot controller while rewriting the internal
information of the robot controller such as the program or parameters. If the main power
to the robot controller is turned off while in automatic operation or rewriting the program
or parameters, the internal information of the robot controller may be damaged.
CAUTION
CAUTION
CAUTION
WARNING
CAUTION
CAUTION
CAUTION
CAUTION
CAUTION
CAUTION
CAUTION
CAUTION
CAUTION
CAUTION
CAUTION
CAUTION
CAUTION

■ History
Print date Instruction manual No. Revision content
2001-02-06
2001-11-20
2001-11-29
2005-07-28
2009-09-30
BFP-A8107-A
BFP-A8107-B
BFP-A8107-C
BFP-A8107-D
BFP-A8107-E
Error in writing correction.
Installation method of controller (CR1/CR2/CR2A/CR7/CR8) were
added.
Specification of J2-Super series was added.
Error in writing correction.
Error in writing correction.
CR1B, CR2B and CR3 controller was added.
Error in writing correction.
The EC Declaration of Conformity was changed.
(Correspond to the EMC directive; 2006/42/EC)

Preface
Thank you for purchasing Mitsubishi Electric Industrial Robot CRn-500 Series.
The additional axis interface is a general-purpose servo amplifier control interface in combination with
CRn-500 Series controller.
Before use, be sure to read this manual for sufficient understanding. Then use the additional axis in-
terface.
・ No part of this manual may be reproduced by any means or in any form, without prior
consent from Mitsubishi.
・ The details of this manual are subject to change without notice
・ An effort has been made to make full descriptions in this manual. However, if any dis-
crepancies or unclear points are found, please contact your dealer.
・ The information contained in this document has been written to be accurate as much as
possible.
Please interpret that items not described in this document "cannot be performed." or
"alarm may occur".
・ This Instruction Manual is original.
Copyright (C) 1999-2009 MITSUBISHI ELECTRIC CORPORATION

EMC Installation guideline and procedure
Coupling procedure of Ferrite core for SSCNET cable
The Ferrite core should be installed to the SSCNET cable between controller and other
SSCNET unit (ex. MR-J2B…) within 30 cm from the controller (See below).
If the customer do not install to the SSCNET cable with the Ferrite core, it will be become a
trouble by Immunity and emission noise.
*1 Caution
If necessary, in case of under the environment of much immunity noise, remove the sheath of
the SSCNET cable, and connect the shield that is inside a cable with the Earth [PE] terminal
directly by the cable. Please see the manual of the servo-amplifier unit.
Ferrite core
Nylon band
Additional AXISES card side
SSCNET cable
Within 30cm Make the cable one turn
*1

Contents
1. How to use the instruction manual ..................................................................................................1
1.1 Content of instruction manual ...................................................................................................1
1.2 Codes of instruction manual .....................................................................................................1
1.3 Terms used in instruction manual .............................................................................................2
2. Flow of works..................................................................................................................................3
2.1 Flow of works ...........................................................................................................................3
3. Additional axis interface ..................................................................................................................4
3.1 What is the additional axis interface?........................................................................................4
3.2 System configuration example of additional axis interface........................................................5
3.3 Additional axis interface functions.............................................................................................7
3.4 Additional axis interface specifications......................................................................................7
4. Confirmation of product...................................................................................................................8
4.1 Standard configuration .............................................................................................................8
4.2 Necessary products..................................................................................................................8
4.3 Software version confirmation...................................................................................................9
5. Connection and Wiring..................................................................................................................10
5.1 Connection of CR1/CR1B controller and servo amplifier.........................................................10
5.2 Connection of CR2A/CR2B controller and servo amplifier ......................................................12
5.3 Connection of CR2/CR3/CR4/CR7/CR8 controller and servo amplifier...................................14
5.4 Connection example of servo amplifier and servo motor.........................................................15
5.5 Installing the Servo System ....................................................................................................15
6. Servo system setting..................................................................................................................... 16
6.1 Servo amplifier setting ............................................................................................................16
6.2 Parameter setting of servo amplifier ....................................................................................... 16
7. Setting, Operation and Command Explanation of Robot Additional Axis .......................................17
7.1 Description of parameters....................................................................................................... 17
7.1.1 Parameter list ................................................................................................................ 18
7.1.2 Details of parameters.....................................................................................................19
7.2 Confirmation of connection.....................................................................................................24
7.3 Try to use the robot additional axis .........................................................................................25
7.3.1 Turn ON the power supply............................................................................................. 25
7.3.2 Move the robot additional axis ....................................................................................... 25
7.3.3 Set the origin .................................................................................................................26
7.3.4 Create a program ..........................................................................................................27
7.3.5 Execute a program ........................................................................................................27
7.3.6 End the operation ..........................................................................................................27
7.4 Operation of the Robot's Additional Axis................................................................................. 28
7.4.1 Brake release ................................................................................................................28

7.4.2 Origin setting .................................................................................................................28
7.4.3 Servo ON/OFF ..............................................................................................................28
7.4.4 Jog operation.................................................................................................................29
7.4.5 Operation of position variable ........................................................................................29
7.4.6 MDI (Manual Data Input) compensation of robot additional axis ....................................30
7.4.7 Operation.......................................................................................................................31
7.4.8 Stop...............................................................................................................................31
•Stop................................................................................................................................. 31
•Emergency stop .............................................................................................................. 32
7.4.9 Error resetting................................................................................................................32
7.5 Explanation of commands ......................................................................................................33
7.5.1 Interpolation commands ................................................................................................33
7.5.2 Synchronous control of robot additional axis (travel axis) .............................................. 34
7.5.3 Position variables ..........................................................................................................37
7.6 Example of System Configuration of the Robot's Additional Axis............................................ 38
7.6.1 Travel axis system.........................................................................................................38
8. User Mechanism Settings, Operation, and Commands .................................................................44
8.1 Procedure for Setting the Parameters of the User Mechanism ...............................................44
8.2 Description of parameters....................................................................................................... 44
8.2.1 Parameter list ................................................................................................................ 45
8.2.2 Details of parameters.....................................................................................................46
8.3 Confirmation of connection.....................................................................................................54
8.4 Try to use the mechanical additional axis. ..............................................................................55
8.4.1 Turn ON the power supply............................................................................................. 55
8.4.2 Move the user mechanism............................................................................................. 56
8.4.3 Setting the Origin...........................................................................................................57
8.4.4 Create a program ..........................................................................................................58
8.4.5 Execute a program ........................................................................................................58
8.4.6 End the operation ..........................................................................................................58
8.5 Operation of the User Mechanism ..........................................................................................59
8.5.1 Brake release ................................................................................................................59
8.5.2 Origin setting .................................................................................................................59
8.5.3 Servo ON/OFF ..............................................................................................................59
8.5.4 Jog operation.................................................................................................................59
8.5.5 Operation of position variable ........................................................................................60
8.5.6 Operation.......................................................................................................................60
8.5.7 Stop...............................................................................................................................60
•Stop................................................................................................................................. 60
•Emergency stop ............................................................................................................. 61

8.5.8 Error resetting................................................................................................................61
8.6 Explanation of commands ......................................................................................................62
8.6.1 Position variables ..........................................................................................................62
8.6.2 Commands....................................................................................................................63
8.7 Example of System Configuration of the User Mechanism .....................................................71
8.7.1 Rotation table system ....................................................................................................71
8.7.2 System with multiple axes ............................................................................................. 79
9. Design and Engineering................................................................................................................88
9.1 Interface for servo amplifier .................................................................................................... 88
9.1.1 Connector pins of additional axis interface SV2(CR2/CR3/CR4/CR7/CR8 Controller) ... 88
9.1.2 Connector pins of additional axis interface CON1(CR1/CR1B/CR2A/CR2B Controller) . 89
9.1.3 Example of connection with servo amplifier ...................................................................90
10. Such a Case ...............................................................................................................................93
11. Appendix.....................................................................................................................................94
11.1 Error list................................................................................................................................94

1.How to use the instruction manual
1
1. How to use the instruction manual
This manual describes the functions, which are added or changed in the additional axis interface. For
the functions and their operation methods provided in the standard controller, refer to separate
"Instruction Manual/ Controller setup, basic operation, and maintenance".
Moreover, for the functions and their operation methods prepared in the servo amplifier and servomotor,
refer to "Instruction Manual for Servo Amplifier and Servomotor".
1.1 Content of instruction manual
Through the following configuration, this manual describes the functions, which are added or changed in
the additional axis interface.
Table 1.2.1 Content of instruction manual
Chapter Title Content
1 How to use the instruction manual This section describes how to use this document (Additional Axis Interface
User’s Manual).
2 Flow of works This section describes the work required to build an additional axis system.
Please follow the procedure completely.
3 Additional axis interface This section describes the functions and specifications of the additional axis
interface.
4 Confirmation of product Check whether all products required for building a system are available, and
the version of the controller for compatibility.
5 Connection and Wiring
This section describes the connection and wiring of the controller and the
servo system. Be sure to install the servo amplifier and the motor exactly as
instructed in this section.
6 Servo system setting This section describes how to set up the servo system.
7 Setting, Operation and Command
Explanation of Robot Additional Axis
The case in which the additional axis is controlled in synchronization with
the robot arm (mechanism No. 1) is described. A series of operation methods
from the parameter setting, start to the end, and the added and changed
commands are described.
8 User Mechanism Settings, Operation,
and Commands
The case in which the additional axis is used as the multi mechanism
(controlled asynchronously with the robot arm) is described. A series
of operation methods from the parameter setting, start to the end, and the
added and changed commands are described.
9 Design and Engineering
To install the additional axis interface, the specifications of the necessary
connector and the system configuration examples are described. Referring
to this chapter, use the additional axis interface further more.
10 Such a Case When the additional axis interface is used, a poor motion or error may
occur. For the solving methods, refer to this chapter as necessary.
11 Appendix
Since the errors added to use the additional axis interface are herein
described, refer to them as necessary. For the parameter error list and
others not directly concerned with the commands and additional axis
connection, refer to the items of "Instruction Manual for Robot Controller".
1.2 Codes of instruction manual
This manual uses the codes and their expression as shown in Table 1.2.1.
Table 1.2.1 Codes of instruction manual
Code Meaning
[JOINT] If [ ] is added in the sentence as shown in the left, it means the key of
the teaching pendant.
[STEP/MOVE] + [+X (J1)]
(A) (B)
It means that (B) key is pressed with (A) key pressed.
This example (jog operation) means that [+X(J1)] key is pressed with
[STEP/MOVE] pressed.
[STEP/MOVE] + ([ADD ↑] →[RPL ↓])
(A) (B) (C)
It means that (B) key is pressed and released with (A) key pressed, and
then (C) is pressed. This example (position compensation) means that
[ADD ↑] key is pressed and released with [STEP/MOVE] key pressed,
and [RPL ↓] key is pressed.

1.How to use the instruction manual
2
1.3 Terms used in instruction manual
The following terms are used in this manual.
(1) Additional axis interface
The additional axis interface means a general-purpose servo amplifier control interface which is
used in combination with CRn-500 Series controller.
(2) Standard system
This means the system which does not use the additional axis interface, a configuration of CRn-500
Series controller and robot arm.
(3) Additional axis system
This means the system which uses the additional axis interface, a configuration of CRn-500 Series
controller, robot arm and additional axis.
(4) Servo system
A total of the servo amplifier and servomotor is called the servo system.
(5) Additional axis
This means the axis, which is controlled with the additional axis interface. The robot additional axis
and mechanical additional axis are generally called the additional axes.
(6) Robot additional axis
The robot additional axis means the axis, which is added to the robot in order to control the
additional axis in synchronization with the robot arm (mechanism No. 1). As special, the axis used
as the 7th axis of the robot is called the additional axis 1, and the axis used as the 8th axis is called
the additional axis 2.
(7) User mechanism
When the additional axis is used as a multi-mechanism (controlled asynchronously with the robot
arm), each axis of the mechanism is called a user mechanism.
(8) Multi mechanism
The multi mechanism means that plural robots (mechanism) are controlled from one controller.

2.Flow of works
3
2. Flow of works
The flow of the works for the additional axis interface is shown below. Referring to the following, proceed
with the works without excess and shortage.
2.1 Flow of works
1. Determine the specifications of the additional axis. ….. Refer to "this manual/3".
Determine the control system of the additional axis. Either the robot additional axis (synchronous
control with the robot arm Example: Travel axis) or mechanical additional axis (asynchronous
control with the robot arm Example: Rotation table, XYZ coordinate mechanism)
 ↓↓
2. Confirm the product. ….. Refer to "this manual/4". Prepare the necessary products.
↓↓
3. Connect the servo amplifier and motor. ….. Refer to "this manual/5".
Connect the wiring among the robot controller, servo amplifier and servomotor and set the servo
amplifier (axis selection switches).
↓↓
4. Set the parameters of the amplifier. ….. Refer to "this manual/6" and "Instruction Manual for Servo
Amplifier".
Using the setup software of the servo amplifier, set the basic parameters AMS, POL, and FBP.
Used as the robot additional axis ↓↓Used as the mechanical additional axis
5. Set the parameters of the controller.
….. Refer to "this manual/7.1 and 7.6".
Set the parameters of the robot controller.
Referring to the system configuration
example of "this manual/7.6", set them.
5. Set the parameters of the controller.
….. Refer to "this manual/8.1 and 8.2".
Set the parameters of the robot controller.
Referring to the system configuration
example of "this manual/8.7", set them.
↓↓
6. Confirm the connection and setting.
….. Refer to "this manual/7.2".
Confirm the items of the check list again.
6. Confirm the connection and setting.
….. Refer to "this manual/8.3".
Confirm the items of the check list again.
↓↓
7. Set the origin.
….. Refer to "this manual/7.4.2".
Set the origin of the robot additional axis.
7. Set the origin.
….. Refer to "this manual/8.5.2".
Set the origin of the mechanical additional
axis.
↓↓
8. Adjustment
….. Refer to "Instruction Manual for Servo
Amplifier".
As necessary, adjust the gain of the
additional axis.
8. Adjustment
….. Refer to "Instruction Manual for Servo
Amplifier".
As necessary, adjust the gain of the
additional axis.
↓↓
9. Create the program.
….. Refer to "this manual/7.3.4, 7.5 and
7.6".
Create a program and move the robot
additional axis. Referring to the system
configuration example of "this manual/7.6",
create them.
9. Create the program.
….. Refer to "this manual/8.4.4, 8.6 and
8.7".
Create a program and move the robot
additional axis. Referring to the system
configuration example of "this manual/8.7",
create them.
↓↓
10. Finish

3.Additional axis interface
4
3. Additional axis interface
This section describes the functions and specifications of the additional axis interface.
3.1 What is the additional axis interface?
The additional axis interface is an interface, which uses the general-purpose servo amplifier (Refer to
"Table 3.1.) of Mitsubishi and the corresponding servomotors in order to allow the plural above
servomotors to be controlled from the robot controller.
Table 3.1 Applicable servo systems
Maker name Servo amplifier name Type
MR-J2-Super series MR-J2S-󳀵B (ABS must be designated.)
Mitsubishi Electric Corp. MR-J2 series MR-J2-󳀵B (ABS must be designated.)
(*) The J2-Super Series can be used with a robot controller of version G9 or later.
As for the J2-Super Series servo amplifiers, use the servo amplifiers with software version of B0 or later.
CAUTION When you are using an MELSERVO-J2 series, do not separate the power
supply for the servo system and the power supply for the robot controller. If
these power supplies are separated, the robot controller may not be able to
detect an absolute position erase error of the servo amplifier depending on the
operating procedure and, as a result, a position shift may occur.
If the servo amplifier's battery has been consumed when the power to the servo
system is turned on, servo amplifier error 25, "Encoder absolute position data
lost," will occur. If the servo amplifier is powered on again in this state, this error
will no longer occur, and the robot controller will not be able to detect this error.
Therefore, if you need to separate the power supplies, be sure to verify on the
servo amplifier's display that no error is occurring before powering on the servo
amplifier.
Also, if robot controller error 1120, " Encoder absolute position data lost," has
occurred, immediately change the servo amplifier's battery and then reset the
origin.

3.Additional axis interface
5
3.2 System configuration example of additional axis interface
If the function of the additional axis interface is used, the following system can be configured.
(1) Robot additional axis 󳋤󳋤󳋤󳋤󳋤󳋤󳋤󳋤󳋤 Like the travel axis, etc., the axis starts moving and stops moving
(as a part of the robot) in synchronization with the robot arm.
(2) Mechanical additional axis 󳋤󳋤󳋤 Like the rotation table, positioning device, etc., the axis is separately
(asynchronously) controlled regardless of the robot arm.
Here, to control the axis as the mechanical additional axis, apply the program method of
MELFA-BASICIV. When the MOVEMASTER command is used, the robot additional axis only can be
used.
"Fig. 3.2.1" shows the system in which the robot arm is arranged on the travel axis. In this case, the
travel axis is a robot additional axis (controlled in synchronization with the robot arm).
󲨘󲨘
Expansion option bo
x
(In the box: Additional axis interface card）
Robot arm
CR1/CR1B controller
Servo amplifier
Servomotor
Travel axis unit
Fig. 3.2.1 Travel axis system (an example)

3.Additional axis interface
6
"Fig. 3.2.2 " shows such an example as the rotation table is used as the mechanical additional axis (used
as the multi mechanism).
󲨘
Expansion option bo
x
(In the box: Additional axis interface card
）
Robot arm
CR1/CR1B controller
Servo amplifier
Servomotor
Rotation table
Fig. 3.2.2 Rotation table system (an example)
The figure below shows an example of a system consisting of a standard robot, a vertical moving axis
and a rotary axis.
Vertical
moving axis1
Expansion option bo
x
(In the box: Additional axis interface card
）
Robot arm
CR1/CR1B controller
Servo amplifier 1
Servomotor 1
Rotation axis
Servomotor 2
Servo amplifier 2
Servo amplifier 3
Servomotor 3
Vertical
moving axis2
Fig. 3.2.3 Multiple axis system (an example)