Advertisement
4 Software
4.2 List of parameters
Show the main parameter in the
Table 4-2: List of parameters
Parameter
Standard tool coordinates.
Standard base coordinates
XYZ operation range
JOINT operation range
Free plane limit
User-defined area
Automatic return setting
Buzzer ON/OFF
Jog setting
Jog speed limit value
Hand type
Stop input B contact desig-
nation
4-94 List of parameters
Table
4-2.
MEXTL
Set the default value for the tool data.
Unit: mm or deg.
MEXBS
Set the relation of the world coordinate system and robot coordinate system.
Unit: mm or deg.
MEPAR
Designate the overrun limit value for the world coordinate system.
MEJAR
Set the overrun limit value for each joint axis.
This is the overrun limit set with the free plane.
Create a plane with the three coordinates x1, y1, z1 to x3, y3, z3, and set the outer side
of the plane as the outside operation range (error). The following three types of parame-
ters are used.
SFC1P
Eight types of free plane limits can be set in SFC1P to SFC8P.
:
There are nine elements, set in the order of x1, y1, z1, x2, y2, z2, x3, y3, z3.
SFC8P
SFC1ME
Designate which mechanism to use eight types of set free plane limits.
:
The mechanism No. to use is set with 1 to 3.
SFC8ME
SFC1AT
Set the validity of the eight types of set free plane limits.
:
(Valid 1/Valid 2/invalid = 1/-1/0)
SFC8AT
An area (cube) defined with two XYZ coordinate points can be designated and that area
set as the outside operation range. Furthermore, a signal can be output when the axis
enters that area. Up to 32 types of area can be designated.
AREA1CS
Specify the coordinate system of the user definition area *.
:
0: Base coordinate system (conventional compatibility)
AREA32CS
1: Robot coordinate system
AREA1P1
Designated the 1st point of the area.
:
There are eight elements, set in the order of x, y, z, a, b, c, L1, L2.
AREA32P1
(L1 and L2 are the additional axes.)
AREA1P2
Designated the 2nd point of the area.
:
There are eight elements, set in the order of x, y, z, a, b, c, L1, L2.
AREA32P2
(L1 and L2 are the additional axes.)
AREA1ME
Designate which mechanism to use the 32 types of set area.
:
The mechanism No. to use is set with 1 to 3.
AREA32ME
AREA1AT
Designate the area check type.
:
(Invalid/zone/interference = 0/1/2)
AREA32AT
Zone: The dedicated output signal USRAREA turns ON.
Interference: An error occurs..
RETPATH
Set to restart the program after returning to the interrupt position when resuming opera-
tion after an interruption.
BZR
Designate whether to the turn buzzer ON or OFF.
JOGJSP
Designate the joint jog and step operation speed.
(Set dimension H/L amount, max. override.)
JOGPSP
Designate the linear jog and step operation speed.
(Set dimension H/L amount, max. override.)
JOGSPMX
Limit the operation speed during the teaching mode. Max. 250[mm/s]
HANDTYPE
Set the hand type of the single/double solenoid, and the signal No.
(Single/double = S/D)
Set the signal No. after the hand type. Example) D900
INB
Change the dedicated input (stop) to either of normal open or normal close.
Details
Advertisement
