Robot Parameters
In the [Robot Parameters] panel, you can define the Local coordinate system and the Tool coordinate system, and configure the additional arms.
To display the [Robot Parameters] panel, switch the mode selector key switch to “TEACH/T1”, and then tap [Robot Parameters].
Local Coordinate System Setting
This panel is used for setting the Local coordinate system of the robot.
Select “Local” in [Function]. The values of the user-definable 15 Local coordinate systems will be displayed. Local “0” is the base coordinate system. It cannot be changed in this panel.
KEY POINTS
The base coordinate system can be changed by executing Base command from the command window.
For details, refer to the following manual.
"Epson RC+ SPEL+ Language Reference"
The cells with no Local coordinate system definition are empty. Entering the value to the undefined Local coordinate system sets remaining cells to “0”.
The Local coordinate systems numbering from 1 to 15 can be defined. Tapping the [Apply] button configures the Local coordinate system.
For details of the Local setting, refer to the following manual.
"Epson RC+ SPEL+ Language Reference - Local Statement"
| Item | Description |
|---|---|
| X | The X coordinate of the local origin in the base coordinate system. |
| Y | The Y coordinate of the local origin in the base coordinate system. |
| Z | The Z coordinate of the local origin in the base coordinate system. |
| U | Rotation angle of the Local coordinate system about the base Z axis. (Roll) |
| V | Rotation angle of the Local coordinate system about the base Y axis. (Pitch) |
| W | Rotation angle of the Local coordinate system about the base X axis. (Yaw) |
| Apply | Sets the current values. |
| Restore | Restores the previous values. |
| Clear | Clears all the selected values. |
Tool Coordinate System Setting
Select “Tool” in [Function]. The values of the user-definable 15 Tool coordinate systems will be displayed.
The cells with no Tool coordinate system definition are empty. Entering the value to the undefined Tool coordinate system sets remaining cells to “0”.
The Tool coordinate systems numbering from 1 to 15 can be defined.
Tapping the [Apply] button configures the Tool coordinate system.
For details of the Tool setting, refer to the following manual.
"Epson RC+ SPEL+ Language Reference - TLSet Statement"
| Item | Description |
|---|---|
| X | The X coordinate of the tool. |
| Y | The Y coordinate of the tool. |
| Z | The Z coordinate of the tool. |
| U | Rotation angle of the tool about the Z axis. (Roll) |
| V | Rotation angle of the tool about the Y axis. (Pitch) |
| W | Rotation angle of the tool about the X axis. (Yaw) |
| Apply | Sets the current values. |
| Restore | Restores the previous values. |
| Clear | Clears all the selected values. |
Additional Arm Setting
Select “Arm” in [Function]. The values of the user-definable 15 Arm will be displayed. This setting is not available for the vertical 6-axis robots and robots which do not support ArmSet command. The cells with no Arm definition are empty.
Tapping the [Apply] button configures the additional arms.
For details of the arm setting, refer to the following manual.
"Epson RC+ SPEL+ Language Reference - ArmSet Statement"
| Item | Description |
|---|---|
| L2 Dist | Distance between the center of Joint #2 and the center of the orientation joint in millimeters. |
| J2 Offset | Angle of the line from the center of Joint #2 to the center of the orientation joint in degrees. |
| Z Offset | The Z offset between the new orientation axis and the standard orientation axis. |
| L1 Dist | Distance between the center of the shoulder joint and the center of the elbow joint in millimeters. |
| U Offset | The angle offset between the standard orientation zero position and the new orientation axis zero position in degrees. |
| Apply | Sets the current values. |
| Restore | Restores the previous values. |
| Clear | Clears all the selected values. |
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