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6 Appendix
Appendix 1 ： Configuration flag
The configuration flag indicates the robot posture.
For the 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.
Fig.6-1 ： Configuration flag (RIGHT/LEFT)
RIGHT
FL1(Flag 1)
＆ B 0 0 0 0 0 0 0 0
LEFT
1/0 = RIGHT/LEFT
Note) "&B" is shows the binary
Configuration flag
6Appendix
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Appendix-109
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