IAI R-unit RSEL, Инструкция по эксплуатации, Страница: 471 / 844

Chapter 7 6-axis Cartesian Robot
7.2 Caution When Using Orthogonal Coordinate System Features
7-31
ME0392-4C
7.2.10 Restriction
• When the orthogonal coordinate system features in the 6-axis cartesian robot are to be used,
operation cannot be recovered from the emergency stop or a stop with the enable switch. If 2
is set in the following parameters, 643 “Emergency Stop / Enable SW Recovery Type
Parameter Error” should occur. Set a value other than 2.
■ Other Parameter
No. Parameter name
Default
value
Input range Unit Remarks
10 Emergency-stop recovery type 0 0 to 4
0: Abort operations/programs
1: Recovery after reset
2: Operation continued (Only during
automatic operation.)
3: Abort operations/programs (Software reset
when the emergency stop is reset. The
home-return completion status of
incremental-encoder axes will be reset
(EG approximation swap).)
4: Abort operations/programs (Error reset
(only with an error of operation-
cancellation level or lower) and auto-start
program start
11
Enable switch
(deadman/enable switch)
recovery type
0 0 to 2
0: Abort operations/programs
1: Recovery after reset
2: Operation continued (Only during
automatic op eration.)
• When the orthogonal coordinate system features of the are used, the axes constructing the 6-
axis cartesian robot cannot use the multi slider over approach detection feature. 625 “Multi
Slider Parameter Error” should occur. Set the following parameter to the setting in 0H.
■ Axis Parameters
No. Parameter name
Default
value
Input range Unit Remarks
41
Target axis specification for
multiple-slider near-miss
detection
0H
0H to
FFFFFFFFH
Bits 0 to 3: Mating axis number of near-miss
detection target (on the positive
side of the coordinate system of
the target axis)
Bits 4 to 7: Mating axis number of near-miss
detection target (on the negative
side of the coordinate system of
the target axis)
• Drive with the orthogonal coordinate system being indicated is available only to an individual
6-axis cartesian robot.
In case of operating an 6-axis cartesian robot and an added axis in parallel, it is necessary to;
(i) indicate the specific axis coordinate system and operate, or
(ii) operate the added axis in another SEL program than the operation program for the 6-axis
cartesian robot.
7.2 Caution When Using Orthogonal Coordinate System Features
ME0392-4C
7-32
• When the orthogonal coordinate system features in the 6-axis cartesian robot are to be used,
the rotary axis index mode cannot be used on the axes constructing the 6-axis cartesian robot.
• The zone features (Axis Parameters No 21 to 32) perform monitoring on the current position in
the specific axis coordinate system.
• The vision system I/F features should read in the work position coordinates as the specific axis
coordinate system position data. They would not be read in as the orthogonal coordinate system
position data.
• When the orthogonal coordinate system features in the 6-axis cartesian robot are to be used,
do not attempt to change the following parameters on the constructing axes from the settings
at the delivery from factory.
■ Driver Unit Parameter
No. Name Unit Input range
Default initial value
setting
5 Homing direction
－
0: Reverse,
1: Forward
In accordance with actuator
22 Homing offset
mm
(deg)
0.00 to 9,999.99 In accordance with actuator
• When the orthogonal coordinate system features in the 6-axis cartesian robot are to be used,
synchronizing features cannot be used on the axes constructing the 6-axis cartesian robot.