6Appendix
Configuration flag
Appendix-185
6 Appendix
Appendix 1 ： Configuration flag
The configuration flag indicates the robot posture.
For the 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.
(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.6-1 ： 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.6-2 ： Configuration flag (ABOVE/BELOW)
㻾㻵㻳㻴㼀
㻡㻙㼍㼤㼕㼟㻌㼠㼥㼜㼑 㻢㻙㼍㼤㼕㼟㻌㼠㼥㼜㼑
㻾
㻸㻱㻲㼀 㻾㻵㻳㻴㼀 㻸㻱㻲㼀
㻼
㻶㻝㻌㼍㼤㼕㼟㻌
㼞㼛㼠㼍㼠㼕㼛㼚㻌
㼏㼑㼚㼠㼑㼞
㻶㻝㻌㼍㼤㼕㼟㻌
㼞㼛㼠㼍㼠㼕㼛㼚㻌
㼏㼑㼚㼠㼑㼞
* The illustrations are an example.
FL1 (Flag 1)
&B0000 00
00
↑
1/0=RIGHT/LEFT
Note) "&B" is shows the binary
㻡㻙㼍㼤㼕㼟㻌㼠㼥㼜㼑㻛㻢㻙㼍㼤㼕㼟㻌㼠㼥㼜㼑
㻭㻮㻻㼂㻱
㻼
㻮㻱㻸㻻㼃
㻶㻞㻌㼍㼤㼕㼟㻌
㼞㼛㼠㼍㼠㼕㼛㼚㻌
㼏㼑㼚㼠㼑㼞
㻶㻟㻌㼍㼤㼕㼟㻌
㼞㼛㼠㼍㼠㼕㼛㼚㻌㼏㼑㼚㼠㼑㼞
FL1 (Flag 1)
&B0000 000
0
↑
1/0=ABOVE/BELOW
Note) "&B" is shows the binary
* The illustration is an example.
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