PG Parameters

If you have a PG robot data file previously created

Load the data file by following the instruction in the following.

Backup and Restore Parameter Data - [Backup and Restore Parameter Data]

If you don’t have a data file

Set the PG robot parameter in the dialog shown below.

• User Model Name

  Name the model of the manipulator here. You may create your own type-name using a maximum of 32 alphanumeric characters.

  The User Model Name entered here will appear as the robot type in Robot Configuration. The User Model Name does not affect robot operation.

• Model Version

  This indicates the data version in a 4-digit hexadecimal number. This information does not affect robot operation. The version number is for your own use to indicate different versions of robots using the same User Model Name.

• Home Speed

  This parameter sets the speed when Home is executed, specified by percentage of maximum speed.

  The value must be an integer in the range of 1 to 100.

• Home Accel

  This parameter sets the acceleration when HOME is executed, specified by percentage of maximum acceleration.

  The value must be an integer in the range of 1 to 100.

• Mcal Speed

  This parameter sets the speed when MCAL is executed, specified by percentage of maximum speed.

  The value must be an integer in the range of 1 to 100.

• Mcal Accel

  This parameter sets the acceleration when MCAL is executed, specified by percentage of maximum acceleration. The value must be an integer in the range of 1 to 100.

KEY POINTS

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Specify this parameter so that MCAL is completed within 120 seconds.

If the calibration of each joint is not completed within 120 seconds during MCAL execution, then error 4083: MCAL did not complete in time will occur.