6Appendix; Appendix 1 ： Configuration Flag - Mitsubishi Electric MELFA RH-3FHR3515 Instruction Manual

6 Appendix
Appendix 1 ： Configuration flag
The configuration flag indicates the robot posture.
For the 6-axis type robot, the robot hand end is saved with the position data configured of X, Y, Z, A, B and C.
However, even with the same position data, there are several postures that the robot can change to. The posture
is expressed by this configuration flag, and the posture is saved with FL1 in the position constant (X, Y, Z, A, B, C)
(FL1, FL2).
The types of configuration flags are shown below.
(1) RIGHT/LEFT
Indicates the location of the end axis relative to the line that passes through both the rotational center of the J1
axis and the rotational center of the J2 axis.
LEFT
Fig.6-1 ： Configuration flag (RIGHT/LEFT)
J2 axis
J2軸
RIGHT
FL1(Flag 1)
＆ B 0 0 0 0 0 0 0 0
↑
1/0 = RIGHT/LEFT
Note) "&B" is shows the binary
Extension line of the
No.1 arm
Configuration flag
Appendix-110

6Appendix