Nachi RMU20-20, Instruction Manual

Page: 110 / 190

4.2Setting of parameters
4-8
4.2.3 Tool parameters
1
Open <Constant Setting> - [3 machine constants] – [34 Robot monitoring unit] –
[1 Setting]
–
[3 Tool parameters].
>> The following screen will be displayed.
2 Set the required parameters with reference to the following table.
If there is no parameter to be updated, following operation is necessary.
IMPORTANT
If the RMU had been replaced or backup-restore operation had
been executed, perform writing operation even if there are no
modified parameters.
3 After setting, press f12 <Complete>.
>> When setting is done correctly, following message is displayed. But this is normal.
After closing this message with [R] key, perform the confirmation operation.
Table
4-5
Axis parameters
Parameter Function
Default
value
Tool posture watch
r,p,y, theta
1 - 4 The reference posture and the allowable range of the tool posture watch
function. The unit is [deg.
When <Get origin> is pressed, the present position is set.
Operator class of
SPECIALIST
is necessary to change this parameter.
-
"-" : These parameters differ from the robot.