Appendix-165
Configuration flag
6Appendix
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.
㻶㻞㻌㼍㼤㼕㼟
㻾㻵㻳㻴㼀
㻾㻵㻳㻴㼀
㻸㻱㻲㼀
㻸㻱㻲㼀
㻗
㻙
㻱㼤㼠㼑㼚㼟㼕㼛㼚㻌㼘㼕㼚㼑㻌
㼛㼒㻌㼠㼔㼑㻌㻺㼛㻚㻝㻌
㼍㼞㼙
<RH-3FRH/6FRH/12FRH/20FRH series>
<RH-3FRHR series>
FL1(Flag 1)
＆ B 0 0 0 0 0 0 0 0
↑
1/0 = RIGHT/LEFT
Note) "&B" is shows the binary
