Installation manual

Chapter 6 Programming
6-114
Arm parameter outline
Designations
Types Config. Details
●
FCM float [0] RMRC control start-up time [sec]
●
[1] RMRC control shut-down time [sec]
●
[2] Axis control start-up time [sec]
●
[3] Axis control shut-down time [sec]
[4] Direct control parameter (deceleration ratio)
[5] Singularity caution W1 axis position
[6] Singularity caution W1 axis position
ARL float [0-6] Arm length (S1-S2) ～ (W2-Tool installment position)
[mm]
ARG float [0-6] Arm gravity center (S1-S2) ～ (W2-Tool installment
position) [mm]
ARW float [0-6] Arm weight （S1-S2）～（W2-TOOL）[[kg]
●
HOM float [0-6] Home position S1～W2 angle [rad]
●
SAF float [0-6] Safety position S1～W2 angle [rad]
●
ESC float [0-6] Escape position S1～W2 angle [rad]
●
TOL float [0-2] Tool length X, Y and Z direction [mm]
[3-5] Not used
●
[6] Tool offset [mm]
FVL float [0] Position integral calculus element limit
[1] Orientation integral calculus element limit
[2] Taper rate when in singularity escape
[3-6] Not used
DMY long [0-6] Not used
SPA long [0] Servo driver type
＊２
[1] Arm controller numbers
＊３
[2] Arm axis numbers
＊４
[3､4] Not used
[5] RETRAC parameter valid flag
＊５
[6] RETRAC parameter adjustment mode flag
＊６
＊１
Within ranges shown in axis charts below, upper and lower angle limit can be set.
6-axis arm Ｓ１ Ｓ２ Ｓ３ Ｅ１ Ｅ２ Ｗ１ Ｗ２
Upper limit [deg]
１７７ １２４ Not
used
１５８ ２５５ １６５ ２５５
Lower limit [deg]
－１７７ －６４ Not
used
－１０７ －２５５ －１６５ －２５５
7-axis arm Ｓ１ Ｓ２ Ｓ３ Ｅ１ Ｅ２ Ｗ１ Ｗ２
Upper limit [deg]
１７７ ９４ １７４ １３７ ２５５ １６５ ２５５
Lower limit [deg]
－１７７ －９４ －１７４ －１３７ －２５５ －１６５ －２５５
＊２
Servo driver type ：New type servo =０、Old type 7-axis servo = 7, 8-axis servo = 8
＊３
Possible arm controller numbers : usually 2 controllers
＊４
Arm axis numbers ：6-axis arm = 6, 7-axis arm = 7 (except 6)
＊５
RETRAC parameter valid/invalid：not used ＝０
(Only one arm can be used. When in valid, RETRAC initialization is processed.)
＊６
RETRACadjustment mode ：not used ＝０
（It is needed for motion to create ROB and TOL file.）