4
Interface with an Easy Offline Teaching System
DX100
4.4
Manipulator Type
4-24
156191-1CD
HW0482494
4.4
Manipulator Type
To describe robot axis position data in the XYZ type, several postures can
be taken due to the manipulator mechanism when the manipulator is
moved to the described position.
These postures have different pulses at each axis while sharing the same
coordinate system at the control point.
In consequence, apart from the coordinate value, the data to specify the
manipulator’s poseur should also be specified since the posture of the
manipulator cannot be determined merely with the coordinate value.
This is called “TYPE”.
The TYPE varies depending on the type of the manipulator.
4.4.1 Flip/No-flip
As shown in the following figure, when B is in (+) direction (
θ
B>=0
°)
, it is
defined as “flip” and it is “no-flip” when B is in (-) direction (
θ
B<0
°).
flip
0
°
0
°
B
≥
0
°
B < 0
°
no-flip
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