Denso RC5 Dokumentacja Pobierz pdf (Strona 129)

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Chapter 4 Speed, Acceleration and Deceleration Designation

4-15

After each parameter value is set, transmit the data to the robot controller.

First, turn OFF the motor power with the MOTOR key on the teach pendant.

Set Arm Manager to the connection status and click on Transmit of Arm

Manager to display the Transfer Environment Table. Then, execute

transmission.

For transmission, refer to the "WINCAPSII Guide, 8.2.5 Transfer Project” .

Note (1): Click on < Receive in the Transfer Environment Table to

receive data from Arm Manager of the controller. The external

load condition value and the external mode can be received in

this case. However, the internal load condition values and the

internal modes that are edited in a program cannot be

transmitted to WINCAPSII).

Note (2): Enter the payload center of gravity in the TOOL0 coordinates

(refer to Fig. 4-9). The unit is mm. The reference position of

the TOOL0 coordinates is the 6th axis flange center. The

reference position of the TOOL0 coordinates is the center of

the 6th axis flange. For component Y, it is the direction from

the flange center to a pinhole of φ

φφ

φ6H7 (orientation vector

direction). For component Z, it is the direction vertical to the

flange surface through the flange center (approach vector

direction). For component X, it is the X-axis direction (normal

vector direction) in the right-hand coordinate system when the

orientation vector is set to the Y axis and the approach vector

is set to the Z axis (refer to Fig. 4-10).

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