LSIS XGT Series User Manual

Chapter 8 Motion Control Function
8-86
2. Machine information, machine parameter setting
(1) XYZ
XYZ robot does not require separate machine parameters, as the position of each axis matches the XYZ coordinates of
TCP.
(2) Delta3
Rf
Rm
Parameter
Description
KinParam[0]
Lf:Link length of the fixed frame(mm)
KinParam[1]
Lm: Link length of the moving frame(mm)
KinParam[2]
Rf: Length from the center of the fixed frame to
the link of the fixed frame(mm)
KinParam[3]
Rm: Length from the center of the moving frame
to the link of the moving frame(mm)
3. Machine information, tool offset setting
A tool offset function is provided in addition to the machine information, as additional equipment may be connected to the
end of the robot's TCP. Activating tool offset applies the offset to the TCP target position applied to the coordinate system
operation.
TCP
TCP applied with Offset
Y mcs
X mcs
Z mcs
Axis1
Axis3
Axis2
ToolOffsetY
ToolOffsetX
ToolOffsetZ

LSIS XGT Series Specifications

General

Brand	LSIS
Model	XGT Series
Category	Controller
Language	English