IAI RA Series, Instruction Manual

Page: 148 / 186

5. Practical Settings
140
5.3.9. Form
A robot equipped with a wrist unit can have two types of forms [Flip / Non Flip] to one position and
posture (X, Y, Z, Rx, Ry and Rz) at the center of the tool attachment face (tool tip when tool
coordinate system is activated). [Flip / Non Flip] is dependent only to the each axis coordinate
angles of the B-axis (fifth axis) and should be defined as shown in the table below.
In the conversion from work to each axis coordinates, it is necessary to indicate to which position
and posture of the form the coordinate conversion is to be held. Also, the boundary for each form
should be the singularity. In this case, in the conversion from work to each axis coordinates,
conversion will be performed in a way that the further R-axis (fourth axis) should be the current
position.
Robot Combination Type Flip Non Flip
0: X-Y-Z-R-(B-T)
1: X-Z-Y-R-(B-T)
0deg < B < 180deg -180deg < B < 0deg
* B = 0deg, 180deg should be singularity.
* Shown in brackets ( ) are integrated actuators
B軸原点
＋方向
－方向
Flip
上
下
Non Flip
Form
Non Flip
Flip
+ Direction
- Direction
Home Position of B-Axis
ME0364-2B