IAI America XSEL-S - Manual (Page 124)

8.
Appendix
118
Y-axis(2 nd -axis)
X-axis
(Synchro-Master)
(1
st -axis)
Z-axis(3 rd -axis)
X-axis
(Synchro-Slave)
(5
th -axis)
8.3 Operation of High Speed Cartesian Robot (CT4)
Vision System I/F Function is a system that is to be used with the X-axis (Synchro-Master) assigned
as the 1
st axis, Y-axis as the 2 nd , Z-axis as the 3 rd , rotation axis as the 4 th and X-axis
(Synchro-Slave) as the 5 th axis (Note 1) .
Note1 In case there is an additional actuator to be mounted, connection is available only on the
6 th axis.
Shown in the figure is a standard CT4 (with no rotation axis).
The work coordinates data received from the vision system (position information) is saved to the
position data as shown below.
No.Name
Axis1
1-axis
Axis2
2-axis
Axis3
3-axis
Axis4
4-axis
Axis5
(5-axis)
Axis6
(6-axis)
1 10.000 0.000 45.000
Work X
Coordinate
ω
Work Y
Coordinate
ω
Work T
Coordinate
ω