Chapter 5 List of Parameters5.2 All Axes Common Parameters
180
All Axes Common Parameters
No. Parameter name
Default
value
(Reference)
Input range Unit Remarks
124
Vision system I/F1
coordinate offset angle
Common 0
-99999999 ~
99999999
0.001de
g
Rotation angle of vision system I/F1 coordinate with robot
coordinate as datum
• Setting is established in vision system I/F adjustment.
125
Vision system I/F1 Z-axis
direction vision system
position judgment datum
Common 0
-99999999 ~
99999999
0.001m
m
(Related information: All Axes Common Parameter No. 130)
• Setting is established in vision system I/F adjustment.
126
Vision system I/F1 X-axis
(GTVD acquirement
data) tuning offset
Common 0
-99999 ~
99999
0.001m
m
127
Vision system I/F1 Y-axis
(GTVD acquirement
data) tuning offset
Common 0
-999999 ~
99999
0.001m
m
128
Vision system I/F1 R-axis
(GTVD acquirement
data) tuning offset
Common 0
-360000 ~
360000
0.001de
g
129
Vision system I/F1
control 1
Common 0H
0H ~
FFFFFFFFH
Bits 0 to 3: System reservation (Change prohibited)
Bits 4 to 11: System reservation (Change prohibited)
Bits 12 to 19: System reservation (Change prohibited)
Bits 13 to 23: R-axis tuning signal reverse
(0: No signal reverse, 1: Signal reversed)
Bits 24 to 31: Reserved
130
Vision system I/F1
control 2
Common 0H
0H ~
FFFFFFFFH
Bits 0 to 7: Z-axis direction position judgment datum distance
[0.1mm] (Ineffective at 0 when mounted on robot)
* Effective only when all axes common No. 130
bit 8 to 11 = 1
Bits 8 to 11: Vision installation type
(0: Fixed installation (not on robot),
1: Installed on robot)
• Setting is established in vision system I/F
adjustment.
Bits 12 to 31: Reserved
131 System reservation Common 0 0 ~ 5
132 System reservation Common 0
1 ~
99999999
133 System reservation Common 0
1 ~
99999999
134 (For extension) Common 0 ~
135 (For extension) Common 0 ~
136 System reservation Common 0H
0H ~
FFFFFFFFH
137 System reservation Common 0
0 ~
99999999
138 (For extension) Common 0 ~
139 System reservation Common 0
1 ~
99999999
140 System reservation Common 0
1 ~
99999999
141 (For extension) Common 0 ~
142 (For extension) Common 0 ~
143 (For extension) Common 0 ~
144 (For extension) Common 0 ~
145 (For extension) Common 0 ~
146 (For extension) Common 0 ~
147 (For extension) Common 0 ~
148 (For extension) Common 0 ~
149 (For extension) Common 0 ~
150 (For extension) Common 0 ~
151
to
400
(For extension) Common 0 ~
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