Conformation Of Tool Parameters - Nachi RMU20-20 Instruction Manual

4.3.3 Conformation of tool parameters

1
Open <Constants> - [3 Machine constants] – [34 Robot monitoring unit] – [2
Confirmation] – [3 Tool parameters].
>> The following screen will be displayed.
2 Check all parameters. (ToolLength and Tool posture watch)
When all parameters are correct, press <OK> key.
If wrong parameters are displayed, please try to perform the writing procedure.
If some of them were incorrect even after writing procedure, the RMU may
malfunction. Please consult with each NACHI-FUJIKOSHI service office.
Parameter
Length xyz
1-32
Tool posture watch
r,p,y, theta
1-4
Table 4-9 Tool parameters
TCP position (mm)
Parameters for Tool posture watch function(deg)
4.3Confirmation of parameters
Function
4-21