IAI R-unit RSEL, Инструкция по эксплуатации, Страница: 566 / 844

Chapter 10 Parameter
10.2 Parameter List (SEL Unit) 2. MC common parameters
10-34
ME0392-4C
No. Parameter name
Setting at
Delivery Input range
Unit Remarks
31 Vision System I/F1 Coordinate
Axis Definition
4321H
0H to
FFFFFFFFH
Bits 0 to 3: X Direction Axis Number
Bits 4 to 7: Y Direction Axis Number
Bits 8 to 11: Z Direction Axis Number
Bits 12 to 15: R Direction Axis Number
Bits 16 to31: Spare
* Valid only for Axis Group No. 1
32 Vision system I/F 1
coordinate datum point offset X
0
-99,999,999
to
99,999,999
0.001mm
Robot coordinate X on Vision System I/F 1
coordinate (X = 0, Y = 0)
* Setting is to be established at vision system I/F
adjustment.
33 Vision system I/F 1
coordinate datum point offset Y
0
-99,999,999
to
99,999,999
0.001mm
Robot coordinate Y on Vision System I/F 1
coordinate (X = 0, Y = 0)
* Setting is to be established at vision system I/F
adjustment.
34 Vision system I/F 1
coordinate offset angle
0
-99,999,999
to
99,999,999
0.001deg
Rotation angle of Vision System I/F 1 coordinate
when robot coordinate is taken as the datum
* Setting is to be established at vision system I/F
adjustment.
35
Vision system I/F 1
Z-axis direction vision system
position judgment datum
0
-99,999,999
to
99,999,999
0.001mm
(Related Information: All Axes Parameter No. 130
“Vision System I/F 1 Control 2”)
36
Vision system I/F 1
X-axis (GTVD acquirement
data) adjustment offset
0
-99,999 to
99,999
0.001mm
37
Vision system I/F 1
Y-axis (GTVD acquirement
data) adjustment offset
0
-99,999 to
99,999
0.001mm
38
Vision system I/F 1
R-axis (GTVD acquirement
data) adjustment offset
0
-360,000 to
360,000
0.001deg
39 Vision system I/F 1 control 1 0H
0H to
FFFFFFFFH
Bits 0 to 3: Reserved by the system
Bits 4 to 11: Reserved by the system
Bits 12 to 19: Reserved by the system
Bits 20 to 23: R-axis adjustment sign reverse
(0: Not to reverse code
1: Reverse code)
Bits 24 to 31: Reserved
40 Vision system I/F 1 control 2 0H
0H to
FFFFFFFFH
Bits 0 to 7: Position judgment datum distance in Z-
axis direction [0.1mm]
(In installation with robot on top, invalid
when set to “0”)
Bits 8 to 11: Vision Installation Type
(0: Solid installation (not installed on
robot))
1: Installation on robot)
* Setting is to be established at vision
system I/F adjustment
Bits 12 to 31: Reserved
41
to
200
(For expansion) 0 to