Table of Contents
Advertisement
5Functions set with parameters
Parameter
Selection of wrist
RCD
rotation angle (axis
A) coordinate
system
Warm-up operation
WUPENA
mode setting
Warm-up operation
WUPAXIS
mode target axis
Warm-up operation
WUPTIME
mode control time
5-349 Movement parameter
Parameter
No. of arrays
No. of characters
name
Integer 1
Switch the control and display method of the wrist rotation angle
(axis A of the XYZ coordinates system) of a vertical 5-axis type
robot. This parameter is invalid for robots of other types.
2: General angle method
Control axis A such that the hand's posture is maintained if the
value of axis A is the same before and after an operation. Note that
there are cases where the hand's posture cannot be maintained
depending on the attitude of the wrist (axis B of the XYZ
coordinates system). Under normal circumstances, use this
method without changing the setting at shipment from the factory.
0/1/3 = General angle method of the E series/joint angle method/
old general angle method
These options are prepared for the compatibility with programs
(position data) created for older models (e.g., RV-E3J, RV-E5NJ).
To use programs (position data) created for older models, change
the parameter value to the same value as the RCD value specified
for the given older model.
Note that these methods are not mutually compatible; the postures
of the hand in the middle of movement and at the registered
position may be different for two different values of this parameter,
even if the robot is moving toward the same position data. Make
sure to set the same method as when the position data was
registered in order to execute the program.
Integer 1
Designate the valid/invalid of the Warm-up operation mode.
Note: If a value other than the above is set, everything will be
Note: For multiple mechanisms, this mode is set for each
Integer 1
Specify the joint axis that will be the target of control in the warm-
up operation mode by selecting bit ON or OFF in hexadecimal
(J1, J2, .... from the lower bits).
A joint axis that will generate an excessive difference error when
operated at low temperature will be a target axis.
Note: If the bit of a non-existent axis is set to ON, it will not be a
Note: If there is no target axis, the warm-up operation mode will be
Note: For multiple mechanisms, this mode is set for each
Real value 2 Specify the time to be used in the processing of warm-up operation
mode. (Valid time, resume time) Unit: min.
Valid time: Specify the time during which the robot is operated in
the warm-up operation status and at a reduced speed.
(Setting range: 0 to 60)
Resume time: Specify the time until the warm-up operation status
is set again after it has been canceled if a target axis continues to
stop. (Setting range: 1 to 1440)
Note: If a value outside the setting range is specified, it is
Note: If the valid time is 0 min, the warm-up operation mode will be
Note: For multiple mechanisms, this mode is set for each
Details explanation
0:Invalid
1: Valid
disabled.
mechanism.
Bit ON: Target axis
Bit OFF: Other than target axis
target axis.
disabled.
mechanism.
processed as if the closest value in the setting range is
specified.
disabled.
mechanism.
Factory setting
2 (general angle
method)
0(Invalid)
RV-6SD/12SD
serires
:00111000
(J4, J5, J6 axis)
RV-3SD/3SDB
:00001110
RV-3SDJ/3SDJB
:
00000110
The type other than
the above are 0
1, 60
Advertisement
Table of Contents
