IAI PSEL, Руководство по эксплуатации

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Actuator Control Declaration
343
z
WGT2 (Dedicated SCARA command/Tip load condition setting)
Command, declaration Extension
condition
(LD, A, O, AB, OB)
Input condition
(I/O, flag)
Command,
declaration
Operand 1 Operand 2
Output
(Output, flag)
E N, Cnd Cmnd Operand 1 Operand 2 Pst
Optional Optional WGT2 Mass (Variable No.) CP
Applicable models
XSEL
-J/K
XSEL
-P/Q/
PCT/QCT
XSEL
-R/S
XSEL
-JX/KX
XSEL
-PX/QX
XSEL
-RX/SX/
RXD/SXD
ASEL
PSEL
SSEL
TT/TTA MSEL
u u u u u
{
u u u
[Function] Set the weight [gr] of the load on the tip (tool + work piece) in Operation 1, and
the center of gravity in the load, inertia around the center of gravity and other
related parameters to the six variables in a row from the indicated variable in
Operation 2.
The tip load mass/inertial moment set by a WGT2 command will be retained until
a new WGT2 command is set again. However, they are cleared when the power
is turned OFF or a software reset is performed, after which you must set the
applicable values again expressly in the program.
• Indicated Variable in Operation 2
Variable No. Contents of Setting Remarks
n
Gravity Center X for Tip Load
[1/1000mm unit]
ᴾ
Input the position at Tool Coordinate No. 0.
n+1
Gravity Center Y for Tip Load
[1/1000mm unit]
ᴾ
n+2
Inertia around Center of Gravity in
Top Load [kgmm
2
]
ᴾ
n+3 Set to 0
ᴾ
Reservation ( Possibility of use in future)
ᴾ
n+4 Set to 0
ᴾ
Reservation ( Possibility of use in future)
n+5 Set to 0
ᴾ
Reservation ( Possibility of use in future)
Xb
Yb
Xt0
Yt0
Center of Gravity
Y in Load
Center of Gravity
X in Load
•Load Weight
•Inertia Around Center of Gravity in Load