5-446
Movement parameter
5Functions set with parameters
The gravity direc-
tion
* Only RV-F series.
MEGDIR
Real value 4 This parameter specifies the direction and magnitude of gravita-
tional acceleration that acts on the robot according to the instal-
lation posture for the X, Y, and Z axes of the robot coordinate
system, respectively (unit: mm/second
2
).
There are four elements: installation posture, gravitational accel-
eration in the X axis direction, gravitational acceleration in the Y
axis direction, and then gravitational acceleration in the Z axis
direction, in this order from the left.
The example of the setting of gravity acceleration is shown
below.
Example: If the robot is tilted 30 degrees forward (see the figure
below):
The direction gravity acceleration of X axis (Xg) = 9.8 x sin(30
degrees) = 4.9 .
The direction gravity acceleration of the Z axis (Zg) = 9.8 x
cos(30 degrees) = 8.5 .
Note that the value is set to -8.5 because the direction is oppo-
site to the Z axis of the robot coordinate system.
The direction gravity acceleration of the Y axis (Yg) = 0.0
Therefore, the set value is (3.0, 4.9, 0.0, and -8.5)
0.0, 0.0, 0.0, 0.0
Hand initial state
Refer to
"5.13About default
hand status"
HANDINIT
Integer 8
Set the pneumatic hand I/F output for when the power is turned
ON.
This parameter specifies the initial value when turning ON the
power to the dedicated hand signals (900’S) at the robot's tip.
To set the initial status at power ON when controlling the hand
using general-purpose I/Os (other than 900’S) (specifying a sig-
nal other than one in 900’S by the HANDTYPE parameter), do
not use this HANDINIT parameter, but use the ORS* parameter.
The value set by the ORS* parameter becomes the initial value
of signals at power ON.
1,0,1,0,1,0,1,0
Parameter
Parameter
name
No. of arrays
No. of characters
Details explanation
Factory setting
Installation
posture
Setting value (Installation posture,
gravitational acceleration in the X axis
direction, gravitational acceleration in the Y
axis direction, and then gravitational
acceleration in the Z axis direction)
On floor
( 0.0, 0.0, 0.0, 0.0 )
Against wall
( 1.0, 0.0, 0.0, 0.0 )
Hanging
Note1)
Note1) In RH-3FHR series, the current setting of first element
(Installation posture; 0.0) should not be changed.
( 2.0, 0.0, 0.0, 0.0 )
Optional
posture
Note2)
Note2) "***" indicates the numerical value
Refer to the lower example about the set value of the
optional postures.
( 3.0, ***, ***, *** )
