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Parameter
Parameter
name
The gravity direc-
MEGDIR
tion
Hand initial state
HANDINIT
Refer to
"5.13About default
hand status"
Hand type
HAND-
TYPE
Refer to
"5.12About the
hand type"
No. of arrays
No. of characters
Real value 4 This parameter specifies the direction and magnitude of gravita-
tional acceleration that acts on the robot according to the installa-
tion posture for the X, Y, and Z axes of the robot coordinate
system, respectively (unit: mm/second2).
There are four elements: installation posture, gravitational acceler-
ation in the X axis direction, gravitational acceleration in the Y axis
direction, and then gravitational acceleration in the Z axis direction,
in this order from the left.
Installation
posture
On floor
Against wall
Hanging
Optional
*1
posture
The example of the setting of gravity acceleration is shown below.
Example: If the robot is tilted 30 degrees forward (see the figure
below):
The direction gravity acceleration of X axis (Xg) = 9.8 x sin(30
degrees) = 4.9 .
The direction gravity acceleration of the Z axis (Zg) = 9.8 x cos(30
degrees) = 8.5 .
Note that the value is set to -8.5 because the direction is opposite
to the Z axis of the robot coordinate system.
The direction gravity acceleration of the Y axis (Yg) = 0.0
Therefore, the set value is (3.0, 4.9, 0.0, and -8.5)
Integer 8
Set the pneumatic hand I/F output for when the power is turned
ON.
This parameter specifies the initial value when turning ON the
power to the dedicated hand signals (900'S) at the robot's tip.
To set the initial status at power ON when controlling the hand
using general-purpose I/Os (other than 900'S) or CC-Link (6000'S)
(specifying a signal other than one in 900'S by the HANDTYPE
parameter), do not use this HANDINIT parameter, but use the
ORST* parameter.
The value set by the ORST* parameter becomes the initial value of
signals at power ON.
Character
Set the single/double solenoid hand type and output signal No.
string 8
(D:double solenoid, S:single solenoid).
Set the signal No. after the hand type.
When D900 is set, the signal No. 900 and 901 will be output.
In the case of D (double solenoid), please configure the setting so
that the signals do not overlap
5Functions set with parameters
Details explanation
Setting value (Installation posture,
gravitational acceleration in the X axis
direction, gravitational acceleration in the
Y axis direction, and then gravitational
acceleration in the Z axis direction)
( 0.0, 0.0, 0.0, 0.0 )
( 1.0, 0.0, 0.0, 0.0 )
( 2.0, 0.0, 0.0, 0.0 )
( 3.0, ***, ***, *** )
Factory setting
0.0, 0.0, 0.0, 0.0
1,0,1,0,1,0,1,0
D900,D902,D904,D
906,,,,
Movement parameter 5-346
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