FlangeOffset Property
Application
Robot Object Robot
Description
This sets or returns the force sensor position and orientation in the Tool 0 (TCP0, J6 flange) coordinate system.
Usage
FGet Robot.FlangOffset, rArray()
FSet Robot.FlangOffset, rValueX, rValueY, rValueZ, rValueU, rValueV, rValueW
- rArray()
The maximum number of elements to define the value of the property is an array of 6 or more real number variables - rValueX
A real number or formula defining the new value of the property. - rValueY
A real number or formula defining the new value of the property - rValueZ
A real number or formula defining the new value of the property. - rValueU
A real number or formula defining the new value of the property. - rValueV
A real number or formula defining the new value of the property. - rValueW
A real number or formula defining the new value of the property.
Values
rArray()
| Element number | Element number constant | Description |
|---|---|---|
| 0 | FG_X | Positional X component |
| 1 | FG_Y | Positional Y component |
| 2 | FG_Z | Positional Z component |
| 3 | FG_U | Positional U component |
| 4 | FG_V | Positional V component |
| 5 | FG_W | Positional W component |
rValueX, rValueY, rValueZ
| Item | Values |
|---|---|
| Minimum | -2000 |
| Maximum | 2000 |
rValueU, rValueV, rValueW
| Item | Values |
|---|---|
| Minimum | -360 |
| Maximum | 360 |
(RC800 series Controller default)
| Model of Robot | Sensor type | Mount type | (rValueX, rValueY, rValueZ, rValueU, rValueV, rValueW) |
|---|---|---|---|
| GX4, GX8 series | S2503, S2506 | All | (0, 0, -22, 180, 0, 180) |
| GX10, GX20 series | S25010 | (0, 0, -24, 180, 0, 180) |
(RC700 series Controller default)
| Model of Robot | Sensor type | Mount type | (rValueX, rValueY, rValueZ, rValueU, rValueV, rValueW) |
|---|---|---|---|
| C4 series | S250N | Table Top mounting | (0, 0, 5, 0, 0, 0) |
| Ceiling mounting | (0, 0, 5, 180, 0, 0) | ||
| C8 series | S250L, S250P | Table Top mounting | (0, 0, 5, 0, 0, 0) |
| Ceiling mounting | (0, 0, 5, 180, 0, 0) | ||
| Wall mounting | (0, 0, 5, 0, 0, 0) | ||
| C12 series | S250L | Table Top mounting | (0, 0, 5, 0, 0, 0) |
| N2 series | S250H | Table Top mounting | (0, 0, 5, 0, 0, 0) |
| Ceiling mounting | (0, 0, 5, 180, 0, 0) | ||
| N6 series | SH250LH | Table Top mounting | (0, 0, 0, 0, 0, 0) |
| Ceiling mounting | (0, 0, 0, 180, 0, 0) | ||
| G3, G6, GX4, GX8 series | S2503, S2506 | All | (0, 0, -22, 180, 0, 180) |
| G10, G20, GX10, GX20 series | S25010 | (0, 0, -24, 180, 0, 180) | |
| RS series | S2503 | (0, 0, -22, 180, 0, 180) |
Detailed Explanation
This sets or returns the position and orientation of the center of the force sensor base in the Tool 0 coordinate system.
This is used when the positional relationship between Tool 0 and the force sensor has changed. Since the sensor reading cannot be acquired in the assumed coordinate system if a mistake is made in the setting operation, re-set it accurately and use the force function.
Usage Example
This is an example of setting the positional relationship between Tool 0 of Robot 1 and the force sensor. (10 mm in the Z axis direction)
> Robot 1
> FSet Robot.FlangeOffset, 0, 0, 10, 0, 0, 0
See Also
Robot Object Robot