Denso RC5 Especificações descarregar pdf (Página 133)

100

101

Chapter 4 Speed, Acceleration and Deceleration Designation

4-19

If the Set value box of [floor or gantry] on the [Using condition (parameter

number:) ] screen is double-clicked, the parameter value can be edited.

After the parameter values are set, transmit the data to the robot controller.

First, turn OFF the motor power with the MOTOR key on the teach pendant.

Set Arm Manager to the connection status and click on Transmit of Arm

Manager to display the Transfer Environment Table. Then, execute

transmission.

For transmission, refer to the “WINCAPSII Guide , 8.2.5 Transfer Project” .

Note

(

)

: Click on < Receive in the Transfer Environment Table to

receive data from Arm Mana

er of the controller. The

external load condition value and the external mode can be

received in this case. However, the internal load condition

values and the internal mode which are edited in a pro

ram

cannot be transmitted to WINCAPSII.

Note

(

)

: Enter the pa

load center of

ravit

in the Tool 0 coordinate

stem

(

See Fi

. 4-9

)

. The unit should be mm. The ori

in o

the Tool 0 coordinate s

stem coincides with the center o

the 6 axis flange, the Y component directs from the center of

the flan

e to the

φφ

6H7 pin hole

(

the direction of the

orientation vector

)

, the Z component passes throu

h the

center of the flan

e and is ali

ned with the normal of the

flan

e face

(

the direction of the approach vector

)

, and the X

component is the X axis of a ri

ht hand coordinate s

stem

where Y axis is the orientation vector and the Z axis is the

approach vector (See Fig. 4-10).

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