Okura Yusoki A Series Manual page 94

Teaching area:
The teaching limit determines the area where robot teaching is possible. The
teaching area confines the standard pattern size to points within the range. Points
outside the teaching area and within the soft limit range can be stored as positions of
a pattern. The coordinates of the teaching area in arm coordinates.
R area:
This is for setting the range of notifying other control equipment about the current
angle of the robot's R-axis. For the R-axis angle, the range set with soft limits is
divided into 7 segments. These segments are labeled 1-7, in order from the R-axis
angle minus side. For the value indicating the segment in system parameters, set
using the border angle on the plus side for segments 1-6. Relay output is provided to
indicate which segment (1-7) the robot is at.
R area segment 1 angle
5 4 3
6 2
7 1
R area segment 1
Maximum value is Soft limit R(+) and minimum value is Soft limit (-).
The classification 1-6 of R area is set up in the range from soft limit R (-) to
soft limit R (+).
Acl and dcl time:
The "Acl and dcl time" is used to determine the acc-dec time for standard robot
movement, (Units: m sec). When 0 is input as an acc-dec coefficient in step
parameters this time is used to help generate robot motion.
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