LSIS XGT Series - Page 136

Chapter 5 Memory and Parameter
5-38
(a) XYZ
XYZ is a robot where the axis set in 「axis setting 1」in X-axis, the axis set in 「axis setting2」in Y-axis, and the axis set in
「axis setting 3」in Z-axis make a one-to-one correspondence and move in Cartesian coordinate. If the type of coordinate
system is set to XYZ, there is no need to set the coordinate system parameters.
(b) Delta3/3R
Delta is the delta robot consisting of three rotation axes. If you set the coordinate system type as Delta, you need to set the
parameters of the five coordinate systems; Rf / Rm / Lf / Lm
Rf
Rm
Parameter Description
Fixed frame radius (Rf)
Length from the center of the fixed frame to the
link of the fixed frame(mm)
Link length of fixed frame (Lf) Link length of the fixed frame(mm)
Link length of the moving frame (Lm) Link length of the moving frame(mm)
Moving frame radius Rm)
Length from the center of the moving frame to
the link of the moving frame(mm)
(In the left figure, the X, Y coordinates of the
fixed frame and the moving frame are the same)
(c) LinearDelta3/3R
LinearDelta is the delta robot consisting of three linear axes. If you set the coordinate system type as LinearDelta, you need to
set the parameters of the five coordinate systems; Lm / Hf / RfTop / RfBottom / Rm.
RfTop
Rm
RfBottom
hf
Parameter Description
Link length of the moving frame (Lm) Link length of the moving frame(mm)
Fixed frame height (Hf) Fixed frame height (mm)
Fixed frame radius (RfTop) Fixed frame radius (mm)
Fixed frame radius (RfBottom) Fixed frame radius (mm)
Moving frame radius Rm)
Length from the center of the moving frame to
the link of the moving frame(mm)
(In the left figure, the X, Y coordinates of the
fixed frame and the moving frame are the
same)
Rm
Rm