LSIS XGT Series - Page 292

Chapter 6 Motion Function Blocks
6-153
(1) This motion function block sets the ACS and MCS conversion based on the machine model defined in advance at
AxesGroup.
(2) The same setting can be applied to the XG5000 group parameter settings.
(3) The KinType input is used to set the type of the device. You can set the device as shown below.
1) 0: None
2) 1: XYZ
3) 2: Delta3
4) 3: Delta3R
5) 4: LinearDelta3
6) 5: LinearDelta3R
(4) KinParam input is used to set the device information. (It is not set for XYZ type.)
(5) ToolOffsetX / ToolOffsetY / ToolOffsedZ are the functions to set the offset at the end point of the device. In order to cope with
the case where a separate device is connected to the end of the TCP of the robot, the tool offset function is provided
separately from the device information.
TCP
TCP applied Offset
Y mcs
X mcs
Z mcs
Axis1
Axis3
Axis2
ToolOffsetY
ToolOffsetX
ToolOffsetZ