External Linear Axis in CPRog v980-10-XXX

To use an external linear axis, an additional stepper motor module is required. That module needs to be configured upon receipt. Changes to the CPRog project file need to be made and a robot file for the external linear axis has to be installed and potentially adapted.

Module Configuration

The stepper motor module will need new firmware parameters. These have to be configured using the ModuleCtrl Software.

1. Configure rotary swich on the stepper motor module to the next available address:

• • If configured as 4th axis, the switch on the module needs to be set to position "6". (In software this is joint ID 64 = 0x10 + 8 * <switch_position>)