Additional Arm Setting - Epson TP3 Manual

3.5.3 Additional Arm setting

Select "Arm" in [Function]. The values of the user-definable 15 Arm will be displayed.
This setting is not available for the vertical 6-axis robots and robots which do not support
ArmSet command.
The cells with no Arm definition are empty. Entering the value to undefined Arm sets
remaining cells to "0".
Tapping the <Apply> button configures the additional Arm.
For details of the Arm setting, refer to the following manual.
EPSON RC+ SPEL+ Language Reference
L2 Dist
J2 Offset
Z Offset
L1 Dist
U Offset
Apply
Restore
Clear
RC700-A option TP3 Rev.8
: ArmSet Statement
Item
Distance between the center of Joint #2 and the center of the
orientation joint in millimeters.
Angle of the line from the center of Joint #2 to the center of the
orientation joint in degrees.
The Z offset between the new orientation axis and the standard
orientation axis.
Distance between the center of the shoulder joint and the center of the
elbow joint in millimeters.
The angle offset between the standard orientation zero position and the
new orientation axis zero position in degrees.
Set current values.
Restore the previous values.
Clear all values for the selected arm
Operation 3. TEACH/T1 Mode
Description
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