Installation Posture (Example2) - Nachi RMU20-20 Instruction Manual

3.4.3

Installation posture (Example2)

An example in which the robot is rotated along Z axis (-90deg) and the slider is rotated along Z axis (+90deg) is
shown as below. Please be sure that the slider rotates against the ground and the robot rotates against the parent
mechanism (slider).
<Constant Setting> - [12 Format and Configuration] [5 Installation Angle]
Robot side setting
In this case, the relationship between the robot and the slider will be like the following picture.
- The slider moves as X axis direction linear joint.
- Because the robot rotates on the slider, its direction is like the following picture.
Slider position
Slider side setting
Slider position
-Y
+X
3.4 Setting when a slider unit is used
Slider position
-X
+Y
3-29