Def. range
0 = Synchronization position axisl = 0°, axis2 = 0°, axis 3 = 0°
1 = Synchronization position axisl = -90°, axis2 = 0°, axis 3 = 0°
2 = Synchronization position axisl = +90°, axis2 = 0°, axis 3 = 0°
3 =s Synchronization position axisl = 0°, axis2 = -90°, axis 3 = -90° (not IRB 6000)
4 = Synchronization position axisl = -90°, axis2 = -90°, axis 3 = -90° (not IRB 6000)
5 = synchronization position axisl = +90°, axis2 = -90°, axis 3 = -90° (not IRB 6000)
Def.range IRB 6000/S 3.0-100
0 = Synchronozation position axisl = 0°, axis2 = +60°, axis3 = -60*
1 = Synchronozation position axisl = -90°, axis2 = +60°, axis3 = -60°
2 = Synchronization position axisl = +90°, axis2 = +60°, axis3 = -60°
Default value
0 = Synchronization position axisl = 0°, axis2 = 0°
Note! Reference to testprogram for movement to calibration position in chapter 8.3.
5.2.4.3
INCH /MM
Description
The parameter is used for selection of either Si-units or American units in operator
communication with the programming unit, monitor display screen and printer for
program printout.
Menu
INCH/MM
Guide text
UNIT =
Def. range
0 = Si-units (MM, MM/S, KG)
1 = American units (INCH, INCH/MIN, POUND)
Default value
0 = Si-units
5.2.4.4
Zone
The zones used at points have different meaning and value, depending on which optimizing
principle is used; speed or path optimizing. Path optimizing use a corner zone, showing how
far ahead of a point the control system should begin to generate a parabel path (a parabel
path is not generated at a fine point). Speed optimizing use a zero zone, showing the servo
system how close to the point the axes should be before driving towards the next point. Both
type of zones are installed with MANUAL/PARAM/CHANGE/
AUTO/ZONE. If path optimizing is chosen, corner zones will automatically be installed and
if speed optimizing is chosen, zero zones will be installed.
Note! Remember to install the optimizing principle under MANUAL/PARAM/CHANGE/
AUTO/PATH before installing the zones, since they depend on the optimizing
principle.
INSTALLATION S3
5:12
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