IAI RA Series, Instruction Manual

Page: 145 / 186

5. Practical Settings
137
B軸原点
-105° +105°
R軸（第4軸）回転軸
B軸（第5軸）回転軸
P点
+方向
-方向
Base Coordinate Home Position
Base Coordinate System Position When Located at Each Axis Coordinate System Home Position
Robot Combination Type
Base Coordinate System Position When Located at Each Axis
Coordinate System Home Position *1 *2
Wrist Unit S Type Wrist Unit M Type
0: X-Y-(Z-R)-(B-T) (0, 0, -39, 0, 180, 180) (0, 0, -53, 0, 180, 180)
1: X-Z-(Y-R)-(B-T) (0, 39, 0, -90, 0, 0) (0, 53, 0, -90, 0, 0)
* 1 It should be when all of the tool coordinate offset is 0 (tool coordinate system is inactivated).
* 2 Zb coordinate value when the robot combination type = 0 and Yb coordinate value when the
robot combination type = 1 show the distance from Point P to the center of the tool
attachment face.
* Shown in brackets ( ) are integrated actuators.
B-Axis (5
th
Axis) Rotary Axis
R-Axis (4
th
Axis) Rotary Axis
+ Direction - Direction
Home Position of B-Axis
Point P
ME0364-2B