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Pallet definition file 10-23
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Pallet definition file
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Hand system flags are enabled only when specifying the coordinate data in "mm" units for SCARA
robots.
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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 PL2 TO CMU ················· Outputs the specified pallet definition from
the communication port as shown below.
Response:
RUN [cr/lf]
PL2[cr/lf]
PLN=XY[cr/lf]
NX= 3[cr/lf]
NY= 3[cr/lf]
NZ= 2[cr/lf]
PLP= 3986[cr/lf]
P[1]= 100.000 100.000 50.000 90.000 0.000 0.000 [cr/lf]
P[2]= 200.000 100.000 50.000 90.000 0.000 0.000 [cr/lf]
P[3]= 100.000 200.000 50.000 90.000 0.000 0.000 [cr/lf]
P[4]= 200.000 200.000 50.000 90.000 0.000 0.000 [cr/lf]
P[5]= 100.000 10.000 100.000 90.000 0.000 0.000 [cr/lf]
[cr/lf]
END [cr/lf]
Содержание SCARA YRCX Series
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