Appendix-608 Configuration flag
7Appendix
7.2 Configuration flag
The configuration flag indicates the robot posture.
For the 6-axis type robot, the robot hand end is saved with the position data configured of X, Y, Z, A, B and
C. However, even with the same position data, there are several postures that the robot can change to. The
posture is expressed by this configuration flag, and the posture is saved with FL1 in the position constant (X,
Y, Z, A, B, C) (FL1, FL2).
The types of configuration flags are shown below.
*For vertical multi-joint type robot
(1) Right/Left
R is center of flange in comparison with the plane through the J1 axis vertical to the ground. (5-axis type
robot)
P is center of J5 axis rotation in comparison with the plane through the J1 axis vertical to the ground. (6-axis
type robot)
Fig.7-1:Configuration flag (Right/Left)
(2) ABOVE/BELOW
P is center of J5 axis rotation in comparison with the plane through both the J3 and the J2 axis.
Fig.7-2:Configuration flag (ABOVE/BELOW)
５軸タイプ ６軸タイプ
RIGHT
LEFT
R
J1軸
回転ä¸å¿ƒ
RIGHT
LEFT
P
J1軸
回転ä¸å¿ƒ
* The illustration is an example.
5-axis type 6-axis type
J1 axis
rotation center
J1 axis
rotation center
FL1(Flag1)
&B 0 0 0 0 0 0
0 0
↑
1/0 = Right/Left
Note) "&B" is shows the binary
FL1(Flag1)
&B 0 0 0 0 0 0 0
0
↑
1/0 = ABOVE/BELOW
Note) "&B" is shows the binary
J2 axis
Rotation center
J3 axis
Rotation center
ï¼±
ABOVE
BELOW
* The illustration is an example.
P
5-axis type/6-axis type
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