7
Controller system settings
7-19
■
R-axis orientation
‹
RORIEN
›
This parameter sets whether or not the R-axis orientation (posture) is held when performing jog operation on the
Cartesian coordinates in the SCARA robot. When this parameter is initialized, "0: KEEP" is set.
When the orientation set at "KEEP", the R-axis automatically rotates to hold the current orientation if jog movement is
performed on the Cartesian coordinates.
Setting Meaning
0: KEEP Keeps the R-axis orientation (posture).
1: FREE Does not keep the R-axis orientation (posture).
NOTE
This parameter is invalid when the R-axis is set at the auxiliary axis.
■
Arm type at reset
‹
ARMTYP
›
This parameter sets the hand system that is selected at program reset. When this parameter is initialized, "0: NONE" is set.
When moving on the Cartesian coordinates in the SCARA robot or when performing coordinate conversion (pulse
coordinates Cartesian coordinates), the hand system setting becomes important.
Setting Meaning
0: NONE Keeps the hand system that was set before performing program reset.
1: RIGHT Sets the hand system to the right-handed.
2: LEFT Sets the hand system to the left-handed.
■
MOVE L coef.
‹
CPACRAT
›
This parameter sets the acceleration/ deceleration at linear interpolation, circular interpolation and PATH movement of
the SCARA robots between 1 to 100%. When this parameter is initialized, "100" is set.
This coefficient obtains optimum efficiency when set to "100%" to the tip weight and SCARA R-axis moment of inertia.
CAUTION
If decreasing the acceleration coefficient, a period of stop time in response to the stop command by the
STOP
key or stop signal may become long.
NOTE
When the tip swings during robot movement acceleration/ deceleration, decrease this value to suppress the swing.
■
R axis inertia
‹
SCRINR
›
This parameter sets the moment of inertia for the R-axis of the SCARA robot. The unit is "kgm2 × 10-4".
When this parameter is initialized, "0" is set.
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