Inovance H3U Series - Page 733

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AppendixAppendix D Customized Function - Supplementary Description of Electronic Cam Functions
As shown in the gure, O is the origin of coordinates, and C(x,y) is the end of the manipulator.
C(x,y)
r0r0
r1
r2
r1
r2
O
A(x1,y1)
B(x2,y2)
a1
a2
E
D
Arm 1Arm 2
x
y
As shown in the preceding gure, the manipulator is in the homing position. Arm 1 and arm 2 rotate around
D and E, respectively. C is the end of the manipulator, O is the origin of x- and y-coordinates (0,0). Arm
1 and arm 2 rotate counterclockwise around D and E respectively. The distance between O and D and
between O and E is r0, the distance between D and A and between E and B is r1, and the distance between
C and A and between C and B is r2.
The following table lists special elements used by a 2-axis Delta manipulator.
SD Element Function
SD601 and SD600 r0, oating-point number, in the unit of mm
SD603 and SD602 r1, oating-point number, in the unit of mm
SD605 and SD604 r2, oating-point number, in the unit of mm
SD606
Vbas, the base speed of movement along the end path, ranging
from 0 to 500 mm/s
SD607
Vmax, the maximum speed of movement along the end path,
ranging from 0 to 2000 mm/s
SD608
Tacc, the acceleration time for movement along the end path,
ranging from 0 to 2,000 ms
SD609
Tdec, the deceleration time for movement along the end path,
ranging from 0 to 2,000 ms
SD611 and SD610
Current x-coordinate position of the manipulator end, oating-
point number
SD613 and SD612
Current y-coordinate position of the manipulator end, oating-
point number
SD614 Minimum swing angle of arm 1 (-180° to +180° )
SD615 Maximum swing angle of arm 1 (-180° to +180° )
SD616 Minimum swing angle of arm 2 (-180° to +180° )
SD617 Maximum swing angle of arm 2 (-180° to +180° )
SD625 and SD624
Teaching speed ratio, oating-point number, ranging from 1 to
100
SD630
Error message
1: Angle of arm 1 or arm 2 out of range
2: Target coordinate position out of range or manipulator
dimensions incorrect
3: Manipulator dimensions inappropriate
4: Output port reused
5: Linear positioning distance insufcient
6: Gantry positioning lifting height insufcient
7: Gantry positioning x-direction movement insufcient