Figure 2-50 Rotation Axis Rotation Count; Figure 2-51 End Axis Rotation Count; Figure 2-52 Drv Model Rotation Axis - Delta DTV Series User Manual

2.8.3.2 Joint Rotation Count (JRC) Operation
The rotation range for the rotation axes of the DRV model (J4 and J6) is one rotation in the forward
direction and the other in the backward direction (namely two circles); the same position may be reached
by clockwise or counterclockwise rotation. You can find the number of turns displayed on the Joint
Rotation Count while teaching points.
Angle
Counting Value
Angle
Counting Value
For the DRV model's Joint Rotation Count function, you can observe whether the rotation angle of the
two axes exceeds 180° with the J4_JRC and J6_JRC data in the Points page.
The user can enter 0 - 3 for the JRC Operation to switch between different modes, as shown in
Figure 2-53. The following four modes are all compared with the 0° position (origin) of the rotation axis.
In Figure 2-54, JRC_Active displays the axis rotation operation mode for each point at that moment.

Figure 2-50 Rotation axis rotation count

-540(included) to
-360(excluded)
2
+180((included) to
+360((excluded)
1

Figure 2-51 End axis rotation count

Figure 2-52 DRV model rotation axis

2. Tab Operation and Function Instructions
-360((included) to
-180((excluded)
1
+360((included) to
+540((excluded)
2
58
-180((included) to
+180((excluded)
0
+540((included) to
+720((excluded)
3