January 17, 2019, 07:34:28 PM
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 Adding Aux for Servo Gripper to 410-185


Author Topic:  Adding Aux for Servo Gripper to 410-185  (Read 319 times)

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November 10, 2018, 03:54:23 AM
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pmt257


Greetings,  looking for a bit of background info for upcoming project.  I have not worked with an Aux axis on a Fanuc before, however an upcoming project has us adding a servo gripper to a 410-185. 

A few questions:
All 30ib+ controllers ship with a 6 axis amp, correct?  So this aux axis will use channel 5 of the standard amp?
What is the setup process like during software install for adding the aux axis?
How is that axis mastered?  What is zero?
With palletizing is it common to have a servo gripper setup as a “7th axis” of group 1 or a separate motion group?

If I setup the axis as a separate motion group, and set group 1&2 masks ON  in a TP program what motion instructions do I use to just modify the aux axis without modifying robot position?  What motion instructions do I use to do coordinated motion with aux axis and robot?

Linkback: https://www.robot-forum.com/robotforum/index.php?topic=29539.0
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November 10, 2018, 10:31:25 PM
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Racermike123


So this aux axis will use channel 5 of the standard amp? Yes it could, if you want. I would. You would need special cables from Fanuc for that.
What is the setup process like during software install for adding the aux axis?  Basic, you need to know the motor type and the servo amp type. You need to specify if it has a brake and if so where it is connected, the load on the servo which can be estimated. You need to specify the speed, the master position, and the axis limits. You need to specify if it is rotary or linear. It is all in the manual.
How is that axis mastered?  What is zero? You define this. Typically the master position for a gripper is the lowest or closed position. Zero.
With palletizing is it common to have a servo gripper setup as a “7th axis” of group 1 or a separate motion group. I have seen both but I think a separate motion group is better.
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November 10, 2018, 11:49:28 PM
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pmt257


Thanks Mike,  really appreciate it.

Do you know what manual it is in?  I have acces to the CRC.

Can additional axis only be added at software install?  Or can it be done at cntr start?
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November 11, 2018, 12:41:06 PM
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Racermike123


If you want a second group you will have to purchase the "option" from Fanuc and install it. All of it is done in a controlled start.
It's in the handling tool manual
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