Chapter 7 Appendix7.1 Work and Tool Coordinate System Features for Linear Axis
258
In case there is an axis indicated as the R-axis in All Axes Parameter No. 56, establish the setting in
All Axes Parameter No. 57 “Coordinate System Definition 1 R-Axis Coordinates Direction Setting”.
No. Parameter name
Initial value
(Reference)
Input range Unit
Access
right
Remarks
57
Coordinate
System
Definition 1
R-Axis
Coordinates
Direction Setting
0 0 ~ 1 F
Relation between direction
of rotation from X-axis to
Y-axis and R-axis direction
in base coordinate system
0: Same direction
1: Opposite direction
(All Axes Parameter No. 57 is the parameter to define the relations of X-axis, Y-axis and R-axis
in the base coordinate system.
In case this parameter is not established correctly, the axes will not operate as expected. Pay
attention when establish the setting for this parameter as the controller cannot judge right or
wrong for the contents of the setting.)
Establish the setting as described below for the value in All Axes Parameter No. 57.
(Example) In the construction below, Rb positive direction (clockwise) is opposite the rotating
direction from Xb positive direction to Yb positive direction R’ (counterclockwise), thus
All Axes Parameter No. 56 should be set to “1”.
Ｘ軸
Ｙ軸
Ｚ軸
Ｒ軸
Figure: Example for unit (Left: Each axis system / Right: Base coordinate system)
When “Rb Positive Direction” is the same as “Rotating Direction from Xb Positive Direction to
Yb Positive Direction” → “0”
When “Rb Positive Direction” is opposite “Rotating Direction from Xb Positive Direction to Yb
Positive Direction” → “1”
X-Axis
Y-Axis
Z-Axis
R-Axis
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