Denso RC5 Spécifications télécharger pdf (Page 666)

100

101

22-14

22.4 Configuration List

The table below lists the items displayed in the User Preferences window of the teach

pendant (Access: [F2 Arm]—[F6 Aux.]—[F7 Config.]) or in the Config. tab of the

Options window in WINCAPSII (Access: [Arm Manager]—[Tools Menu]—[Options]—

[Configuration]).

No. Items

Factory

default

Powering-on

default

Description Comments

7 Control set of motion

optimization

0: OFF

1: PTP movement only

2: CP movement only

3: Both PTP and CP movement

(Refer to the PROGRAMMER’S

MANUAL, Section 4.6, “Control Sets of

Motion Optimization.”)

Can be set with

aspChange ().

8 Floor-mount,

Overhead-mount or

Wall-hanging setting

0 Last value at

powering-off

0: Floor-mount

1: Overhead-mount

2: Wall-hanging (Ver. 1.6 or later)

9 Mass of payload (g)

Differs

depend-

ing upon

models.

Last value at

powering-off

Mass of end-effector and object to be

mounted at the end of the robot arm.

Can be set with

aspACLD.

10 Payload center of

gravity X (mm)

0 Last value at

powering-off

X component of payload center of

gravity (consisting of end-effector and

object)

(Refer to the PROGRAMMER’S

MANUAL, Section 4.6, “Control Sets of

Motion Optimization.”)

11 Payload center of

gravity Y (mm)

80 Last value at

powering-off

Y component of payload center of

gravity (consisting of end-effector and

object)

(Refer to the PROGRAMMER’S

MANUAL, Section 4.6, “Control Sets of

Motion Optimization.”)

12 Payload center of

gravity Z (mm)

For 4-axes robot in

Ver.1.9 or later:

inertia of payload

(kgcm

)

100 Last value at

powering-off

Z component of payload center of

gravity (consisting of end-effector and

object)

(Refer to the PROGRAMMER’S

MANUAL, Section 4.6, “Control Sets of

Motion Optimization.”)

Can be set with

aspACLD.

Encoder pulse count

for positioning

allowance (J1 to J8)

20 20 Convergence accuracy for specified

axis (one of J1 to J8) at execution of a

motion command with @E option

Can be set with

mvSetPulseWidth

().

21 Positioning

completion timeout

(ms)

5600 5600 At execution of a motion command with

@E option, if positioning is not

completed within this specified time, a

timeout will occur.

Can be set with

mvSetTimeOut ().

22 Control log mode 1 Last value at

powering-off

No. of control logs to be stored.

Entry range: 1 to 3

(1250 x Set value) = No. of control logs

If many programs

and/or variables

are used, setting

many control logs

may cause an

error at powering-

on time. If such

occurs, decrease

the number of

control logs.

1 2 ... 661 662 663 664 665 666 667 668 669 670 671 ... 691 692

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Denso RC5 Spécifications Page 666

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