7.6.6 Mechanism Setting

Mechanism will be used as a group during the jog operation which the jog keys are to be assigned to. In addition, mechanism is also a set of units, each of which is to be differentiated in the process of recording or editing the position of a step. When the mechanisms are set, mechanism numbers (M#) will be assigned for individual groups of axes.

The method to set the use of the endless function and set the position group is as follows.

1. Touch the [5: Initialize > 6: Mechanism Setting] menu.

2. After setting the mechanism number, positioner group number, and the use of the endless function for each axis, touch the [OK] button.

• [Mech]: By touching the drop-down menu, you can set the mechanism number of the axis.

  • If the axis specification is a robot, the mechanism number will be fixed as M0.

  • Starting with the additional axis, you can designate the mechanism number to a value ranging between M1 and M7.

  • The axes set with the same mechanism number will be managed as the same group.

  • To jog the additional axis, you can switch between mechanisms using the [Mech] button. At this time, if you press the jog key, jogging will take place in the order of the axes of the relevant mechanism.

• [Positioner Group]: You can set the positioner group number. The position group number can be set only for the axes whose specification is set as positioner.

• [Endless]: You can set whether to use the endless function on the axis.

A set mechanism unit is the minimum unit that can be assigned to each task and can be driven. To each task, a complex combination of mechanisms can be assigned to individual tasks.

Position Group Designation Rules

• Designate the group in order starting with the lower axis.

• Designate the group not in sync as disable.

• In the case of the positioner, only up to axis 2 will be supported for the same group. Do not designate axis 3 as the same group.

• Redefining the group setting will disable the previously designated positioner calibration data, so you should execute the positioner calibration again.

Mechanism Jog Rules

• The Hi6 controller provides eight jog keys in total.

• Mechanisms will be utilized as one group during the jog operation.

• If you select the mechanism number as [M0], the jog keys for the axes 7 and 8 will be operating as an exceptional case, and it is possible to operate M1 and M2 within a range in which the total number of axes including the next mechanism is eight or less. Even in this case, if you set the mechanism number as [M1], you can perform the jog operation for the configuration elements of M1.

• The following shows the example of the usage.

  Example 1) M0: Robot (Axes 1–6). M1: Travel axis (Axis 7). M2: Servo gun (Axis 8)

  • Select [M0] ⇒ Jog key for axes 1–6: M0. Jog key for axis 7: M1. Jog key for axis 8: M2

  • Select [M1] ⇒ Jog key for axis 1: M1

  • Select [M2] ⇒ Jog key for axis 1: M2

  Example 2) M0: Robot (Axes 1–6). M1: Travel axis (Axis 7). M2: Servo gun (Axes 8–9)

  • Select [M0] ⇒ Jog key for axes 1–6: M0. Jog key for axis 7: M1

  • Select [M1] ⇒ Jog key for axis 1: M1

  • Select [M2] ⇒ Jog key for axes 1–2: M2

  Example 3) M0: Robot (Axes 1–7). M1: Travel axis (Axis 8). M2: Servo gun (Axes 9–10)

  • Select [M0] ⇒ Jog key for axes 1–7: M0. Jog key for axis 8: M1

  • Select [M1] ⇒ Jog key for axis 1: M1

  • Select [M2] ⇒ Jog key for axis 1: M2