Nachi RMU20-20 Instruction Manual page 88

3.2Operation procedure
Parameter
Sphere
Graphic display
POINT
POINT
3-18
13 After the completion of settings, press the <Complete>.
Table 3.2.5 Items to be set on Sphere and Form Limit Setting Screen
Used to specify the radius of sphere.
If "0.0" is specified to the radius, the sphere concerned will be disabled.
Radius Furthermore, if "0.0" is specified to the radii of all the 20 spheres, this function
for the tool concerned will be disabled.
Default value:
Used to specify a distance from the flange.
Center
Default value:
Used to specify the installation angle of the rectangular for the flange surface.
The rotation is executed around the center line of the flange after calculating the
Rotation R offset.
Input range:
Default value:
Used to specify the width of rectangular.
If "0.0" is specified to all of the width, thickness, and height, the rectangular
Width W
concerned will be disabled.
Default value:
Used to specify the thickness of rectangular.
If "0.0" is specified to all of the width, thickness, and height, the rectangular
Thickness T
concerned will be disabled.
Default value:
Used to specify the height of rectangular.
If "0.0" is specified to all of the width, thickness, and height, the rectangular
Height H
concerned will be disabled.
Default value:
Used to specify a distance from the flange.
Offset
Default value:
Sphere and form settings can be confirmed on the graphic display.
The graphic display enables switching of screens Top  Side  Rear.
Furthermore, the graphic display screen for tool form is used to confirm how the
tool limit is set to the flange surface. In this connection, even if the robot moves,
the tool limit will not cause displacement.
Cursor control on graphic display screen for tool limit
The cursor control on the graphic display screen for tool limit is exercised in the same
manner on that for range setting.
Form setting
Concerning the form definition, there is a limitation like the following;
When a rectangular is defiined:
Sphere can be defined up to 12 at maximum.
When a rectangular is not defiined:
Sphere can be defined up to 20 at maximum.
Function
(Sphere 1) 5000.0 / (Spheres 2 to 20) 0.0
0.0
-180.0 to 180.0
0.0
0.0
0.0
0.0
0.0