Command: "Autoorientationflag - Epson N6 Series Manipulator Manual

Setup & Operation 5. Motion Range

Command: "AutoOrientationFlag"

Command: "AutoOrientationFlag" changes the orientation flag of N6-A1000** to the
orientation which the robot does not collide with the equipment.
Change the following orientation flag:
N6-A1000**
: When setting the AutoOrientationFlag to "ON", the orientation flag is changed
*1:
How to use the command
Syntax
Example
Motor On
Power High
AutoOrientationFlag On
Go P1
Go P2
Use AutoOrientationFlag with LJM Function
NOTE
When setting the AutoOrientationFlag to "ON":

78
Parameter
Model
OFF/ON
OFF
ON
Wrist orientation flag is changed only when you change the elbow orientation flag.
When you change the wrist orientation flag, it will be the orientation flag which
minimizes the movement of Joint #4.
(1) AutoOrientationFlag On｜Off
(2) AutoOrientationFlag
When you use the command with LJM Function, Wrist Flag, J4Flag, and J6Flag will
be the orientation selected by LJM Function.
For example, when you set orientationFlag of LJM Function to "3", "Wrist Flag",
"J4Flag", and "J6Flag" are selected so that Joint #5 will be the shortest movement.
When you do not use LJM Function, "Wrist Flag", "J4Flag", and "J6Flag" are
selected so that Joint #4 will be the shortest movement.
Flag is changed as follows due to the position
of point P and the red line.
Point P is above the red line: Above
Point P is below the red line: Below
Orientation flag
Hand Elbow Wrist
- - -
  *1
-
Remark
Move with the orientation flag
which is selected by user. (Default)
Set "ON" when you cannot select
the orientation flag.
Above
Below
N6 Rev.2