6Appendix; Appendix 1 ： Configuration Flag - Mitsubishi Electric RV-4FM-SE Series Instruction Manual

6Appendix

6 Appendix
Appendix 1 ： Configuration flag
The configuration flag indicates the robot posture.
For the 6-axis type robot, the robot hand end is saved with the position data configured of X, Y, Z, A, B and C.
However, even with the same position data, there are several postures that the robot can change to. The posture
is expressed by this configuration flag, and the posture is saved with FL1 in the position constant (X, Y, Z, A, B, C)
(FL1, FL2).
The types of configuration flags are shown below.
(1) RIGHT/LEFT
P is center of J5 axis rotation in comparison with the plane through the J1 axis vertical to the ground.
HT
LEFT
R
心
５軸タイプ
Fig.6-1 ： Configuration flag (RIGHT/LEFT)
(2) ABOVE/BELOW
P is center of J5 axis rotation in comparison with the plane through both the J3 and the J2 axis.
Fig.6-2 ： Configuration flag (ABOVE/BELOW)
Configuration flag
Appendix-126
RIGHT
J1 axis
rotation center
J1軸
回転中心
６軸タイプ
BELOW
ABOVE
P
Ｑ
LEFT
P
J3 axis
Rotation center
J2 axis
Rotation center
FL1 (Flag 1)
&B0000 0000
↑
1/0=RIGHT/LEFT
Note) "&B" is shows the binary
* The illustrations are an example.
FL1 (Flag 1)
&B0000 0000
↑
1/0=ABOVE/BELOW
Note) "&B" is shows the binary
* The illustration is an example.