Advertisement
6 Appendix
Appendix 1 ： Configuration flag
The configuration flag indicates the robot posture.
For the 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
R is center of flange in comparison with the plane through the J1 axis vertical to the ground. (5-axis type robot)
P is center of J5 axis rotation in comparison with the plane through the J1 axis vertical to the ground. (6-axis type
robot)
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)
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.
Configuration flag Appendix-185
6Appendix
Advertisement
