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Pallet definition file 10-21
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Pallet definition file
■
Hand system flags are enabled only when specifying the coordinate data in "mm" units for SCARA
robots.
■
Hand system flags and the first arm and the second arm rotation information are ignored during
movement where pallet definitions are used.
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If a number other than 1 or 2 is set, or if no number is designated, then 0 will be set to indicate
that there is no hand system flag.
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If a value other than "0", "1", "-1" is specified at the first arm and the second arm rotation
information, or if no value is specified, this will be processed as "0".
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A line containing only [cr/lf] is added at the end of the file, indicating the end of the file.
SAMPLE
SEND PLT TO CMU ················· Outputs all pallet definitions from the
communication port.
Response:
RUN [cr/lf]
PL0[cr/lf]
PLN=XY[cr/lf]
NX = 3 [cr/lf]
NY = 4 [cr/lf]
NZ = 2 [cr/lf]
PLP= 3996[cr/lf]
P[1]= 0.000 0.000 0.000 0.000 0.000 0.000 [cr/lf]
P[2]= 100.000 0.000 0.000 0.000 0.000 0.000 [cr/lf]
P[3]= 0.000 100.000 0.000 0.000 0.000 0.000 [cr/lf]
P[4]= 100.000 100.000 0.000 0.000 0.000 0.000 [cr/lf]
P[5]= 0.000 0.000 50.000 0.000 0.000 0.000 [cr/lf]
PL1[cr/lf]
PLN= XY[cr/lf]
NX = 3[cr/lf]
NY = 4[cr/lf]
NZ = 2[cr/lf]
PLP= 3991[cr/lf]
P[1]= 0.000 0.000 0.000 0.000 0.000 0.000 [cr/lf]
P[2]= 100.000 100.000 0.000 0.000 0.000 0.000 [cr/lf]
P[3]= 0.000 200.000 0.000 0.000 0.000 0.000 [cr/lf]
P[4]= 100.000 200.000 0.000 0.000 0.000 0.000 [cr/lf]
P[5]= 0.000 0.000 100.000 0.000 0.000 0.000 [cr/lf]
[cr/lf]
END [cr/lf]
Содержание SCARA YRCX Series
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