Nachi RMU20-20, Instruction Manual

Page: 72 / 190

3.2Operation procedure
3-2
3.2 Operation procedure
3.2.1 Installation angle
Used to define the position and the angle of the robot based on the reference coordinate system
(=world coordinate system). When using the virtual safety fence function or interlock automatic
generation function, make this setting.
By this setting, the position and the angle of the respective robots (or other mechanisms like
sliders etc.) will be decided. Because the virtual guard fence is located in the world coordinate
system, now it becomes possible to calculate the positional relationships between the machines
and the guard fence.
1 Open <Constant Setting> - [12 Format and Configuration] [5 Installation angle]
menu.
This setting can be made up to 10.
2 After the completion of settings, press the <Complete>.
Table 3.2.1 Setting items in the "Installation Angle" screen
Parameter Function
X Vector Coordinate
This is the X coordinate of the mechanism coordinate system's origin based on
the world coordinate system (reference coordinate system).
Initial value : 0.00
Y Vector Coordinate
This is the Y coordinate of the mechanism coordinate system's origin based on
the world coordinate system (reference coordinate system).
Initial value : 0.00
Z Vector Coordinate
This is the Z coordinate of the mechanism coordinate system's origin based on
the world coordinate system (reference coordinate system).
Initial value : 0.00
X axis rotation
This is the rotation angle around the X axis based on the world coordinate
system (reference coordinate system).
Initial value : 0.00
Y axis rotation
This is the rotation angle around the Y axis based on the world coordinate
system (reference coordinate system).
Initial value : 0.00
Z axis rotation
This is the rotation angle around the Z axis based on the world coordinate
system (reference coordinate system).
Initial value : 0.00
IMPORTANT
The "X/Y/Z axis rotation" should be set in an order of Z rotation -> Y rotation -> X
rotation.
IMPORTANT
Although the robot mechanism or traverse mechanism (slider) requires this setting,
auxiliary axis mechanism e.g. gun, positioner, hand etc. does not require this setting.
For mechanisms like those, set "0.0" for exery parameter.