Motoman XRC 2001, Руководство оператора

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5.3 Other Editing
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Manipulator Types
When robot axis position data is described in the XYZ format, a number of solutions are
obtained from the manipulator’s structure when moving it to the described position. In order to
select the appropriate solution, it is necessary to specify the robot type. This robot is called
“Type.” There are up to six types in XRC system. These types also vary according to the robot
models.
• Flip/No Flip: R-Axis Position
• R-Axis Angle
• T-Axis Angle
• Front/Back: Relationship Between the S-Axis and Control Point
• Upper Arm/Lower Arm: Type Comprised of the L- and U-Axis
• S-Axis Angle
These six types are described in the following:
•
Flip/No Flip
This shows the R-Axis position.
When the R-axis is in the position at A as shown in the following diagram, it is known as
“Flip;” when it is in the B position, it is called “No Flip.” However, in a robot in which the R-
axis can move more than ±180× even in position A. It is necessary to specify whether the
R-axis is from -90× to 90×, or from 270× to 360×, or from -360× to -270×. The same is
true for the B position. This is set at the folowing “R-Axis Angle”.
This configuration is required for SK, K, SV model robots. It is not required for the S
model robot.
Flip No Flip
-90 <
θ
R < = 90
270 <
θ
R < = 360, -360 <
θ
R < = -270
90 <
θ
R < = 270
-270 <
θ
R < = -90
θ
R is the angle when the R-axis home position is 0
°.
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