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ID : 7299
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General conditions of robot use.
Setting with Remote TP and Virtual TP
To set the following parameters, from the top menu of the teach pendant, press [F2 Arm] - [F6 Aux] - [F1 Config] to display the parameter list.
For details about operation, refer to "Displaying and Setting the Configuration" of Operation Guide.
Parameter List
| No | Items | Unit | Default | Description |
|---|---|---|---|---|
| 1 | Mass of payload | g | 0 | Mass of end-effector and object to be mounted at the end of the robot arm. |
| 2 | Payload center of gravity X | mm | 0 | X component of payload center of gravity (consisting of end-effector and object) |
| 3 | Payload center of gravity Y | mm | 0 | Y component of payload center of gravity (consisting of end-effector and object) |
| 4 | Payload center of gravity Z | mm | 0 | Z component of payload center of gravity (consisting of end-effector and object) |
| 5 | Payload moment of inertia Ix | kgcm^2 | 0 | Moment of inertia around X axis (consisting of end-effector and object) |
| 6 | Payload moment of inertia Iｙ | kgcm^2 | 0 | Moment of inertia around Y axis (consisting of end-effector and object) |
| 7 | Payload moment of inertia Iz | kgcm^2 | 0 | Moment of inertia around Z axis (consisting of end-effector and object) |
| 8 | Control set of motion optimization | - | 3 | 0: None 1: PTP 2: CP 3: PTP・CP |
| 11 | Efficiency of gravity effect | - | 1 | 0: Gravity compensation feature disabled 1: Gravity compensation feature enabled |
| 14 | Restoration of TOOL/WORK/BASE data | - | 0 | If this option is enabled, once the COBOTTA turns ON, it operates with the same TOOL/WORK/BASE number as the COBOTTA turned OFF last time. (Note: This corresponds to "Restoration of TOOL/WORK data" of RC7M.) |
| 15 | Setting of TCP speed pattern | - | 1 | 0: Depends on rotation motion 1: Constant speed |
| 16 | Accel and decel setting at teach check | - | 1 | 0: first root 1: Square |
| 17 | Angle for position allowance (J1) | deg | 0.04000 | |
| 18 | Angle for positioning allowance (J2) | deg | 0.04000 | |
| 19 | Angle for position allowance (J3) | deg | 0.04000 | |
| 20 | Angle for position allowance (J4) | deg | 0.04000 | |
| 21 | Angle for position allowance (J5) | deg | 0.04000 | |
| 22 | Angle for position allowance (J6) | deg | 0.04000 | |
| 23 | Angle for position allowance (J7) | mm | 0.04000 | |
| 24 | Angle for position allowance (J8) | mm | 0.04000 | |
| 25 | Operation end time-out | ms | 5600 | When executing Move @E command or Move@C command, if the command is not finished within the specified time or specified pulse, time-over error occurs. |
| 26 | Control log mode | s | 10 | |
| 27 | Control log sampling time | ms | 8 | Sampling time of the control log Selection value:8, 16, 24, 32 ms |
| 34 | Positive software motion limit (J1) | deg | 150.000 | |
| 35 | Positive software motion limit (J2) | deg | 100.000 | |
| 36 | Positive software motion limit (J3) | deg | 140.000 | |
| 37 | Positive software motion limit (J4) | deg | 175.000 | |
| 38 | Positive software motion limit (J5) | deg | 135.000 | |
| 39 | Positive software motion limit (J6) | deg | 175.000 | |
| 40 | Positive software motion limit (J7) | mm | 500.000 | |
| 41 | Positive software motion limit (J8) | mm | 500.000 | |
| 42 | Negative software motion limit (J1) | deg | -150.000 | |
| 43 | Negative software motion limit (J2) | deg | -60.000 | |
| 44 | Negative software motion limit (J3) | deg | 18.000 | |
| 45 | Negative software motion limit (J4) | deg | -170.000 | |
| 46 | Negative software motion limit (J5) | deg | -95.000 | |
| 47 | Negative software motion limit (J6) | deg | -170.000 | |
| 48 | Negative software motion limit (J7) | mm | 0.000 | |
| 49 | Negative software motion limit (J8) | mm | 0.000 | |
| 82 | Pass Motion setting | - | 0 | Set the motion destination position at rebooting after stop processing execution during pass motion.
0: Move to the destination position after pass motion |
| 83 | Positioning allowance of pass end | mm | 5 | Conditions to prevent to move to the previous destination position of pass motion. Set by the distance from the destination position. |
| 108 | Position for positioning allowance | mm | 0.100 | |
| 109 | Pose for positioning allowance | deg | 0.100 | |
| 110 to 117 |
Allowance for Position gap detection（J1 to J8) | deg | 10.000 | |
| 118 | Trajectory poses clear setting at TakeArm | - | 1 | Changes the validity of free curve viapoint clear process execution during TakeArm. 0: Enabled 1: Disabled |
| 141 | Manual mode setting | - | 1 | This option specifies the operation mode of the manual mode selected at the time of the COBOTTA start-up. 1: Joint mode 2: XY mode 3: TOOL mode 4098: XY mode (without posture control) 4099: TOOL mode (without posture control) |
| 142 | TOOL number setting | - | 0 | This option specifies the TOOL number selected at the time of COBOTTA start-up. Tool number: 0 to 63 |
| 143 | WORK number setting | - | 0 | This option specifies the WORK number selected at the time of COBOTA start-up. WORK number: 0 to 7 |
| 153 | Speed setting for b-CAP Slave | - | 0 | For details, refer to the "4.7 Setting of the command speed limit and acceleration limit" of b-CAP Communication for RC8. 0: Servo Limit 1: Servo Limit (ExtSpeed) 2: Command Limit 3: Command Limit (ExtSpeed) |
| 171 | Frange position encoder value check motion judgment mode | - | 0 | This item is used for @C motion. 0: Immediate Execute the next line immediately once the tool end arrives the target position. 1: Speed Execute the next line under the condition that the tool end arrives at the target position with the current speed and then is expected to remain within the target position after a specified time passes. 2: Time Execute the next line under the condition that the tool end remains within the target position during the specified time period after arriving at the target position. |
| 172 to 179 | Each axis encoder value check motion judgment mode | - | 0 | This item is used for @E motion. 0: Immediate Execute the next line immediately once the tool end arrives the target position. 1: Speed Execute the next line under the condition that the tool end arrives at the target position with the current speed and then is expected to remain within the target position after a specified time passes. 2: Time Execute the next line under the condition that the tool end remains within the target position during the specified time period after arriving at the target position. |
| 180 | Frange position encoder value check motion judgment time | ms | 16 | Set the time to be used for the judgement of Speed or Time on the Frange position encoder value check motion judgment mode. |
| 181 to 188 | Each axis encoder value check motion judgment time | ms | 16 | Set the time to be used for the judgement of Speed or Time on the Each axis encoder value check motion judgment mode. |
| 190 | BASE number setting | - | 0 | This option specifies whether the selected BASE number will be enabled at the time of COBOTTA start-up. 0: Disable 1: Enable |
| 220 | Payload command setting | - | 1 | This option specifies how the payload command works when an argument of the command (the center of gravity and/or inertia) is omitted. 0: 0 is entered 1: currently entered value is maintained. |
| 226 | Diagnostic start angle(J1) | deg | -35.000 | Diagnosis motion start angle (J1) |
| 227 | Diagnostic start angle(J2) | deg | -17.500 | Diagnosis motion start angle (J2) |
| 228 | Diagnostic start angle(J3) | deg | 72.500 | Diagnosis motion start angle (J3) |
| 229 | Diagnostic start angle(J4) | deg | 35.000 | Diagnosis motion start angle (J4) |
| 230 | Diagnostic start angle(J5) | deg | -35.000 | Diagnosis motion start angle (J5) |
| 231 | Diagnostic start angle(J6) | deg | -35.000 | Diagnosis motion start angle (J6) |
| 232 | Diagnostic start angle(J7) | mm | 0.000 | Diagnosis motion start angle (J7) |
| 233 | Diagnostic start angle(J8) | mm | 0.000 | Diagnosis motion start angle (J8) |
| 234 | Diagnostic end angle(J1) | deg | 35.000 | Diagnosis motion end angle (J1) |
| 235 | Diagnostic end angle(J2) | deg | 17.500 | Diagnosis motion end angle (J2) |
| 236 | Diagnostic end angle(J3) | deg | 107.500 | Diagnosis motion end angle (J3) |
| 237 | Diagnostic end angle(J4) | deg | -35.000 | Diagnosis motion end angle (J4) |
| 238 | Diagnostic end angle(J5) | deg | 35.000 | Diagnosis motion end angle (J5) |
| 239 | Diagnostic end angle(J6) | deg | 35.000 | Diagnosis motion end angle (J6) |
| 240 | Diagnostic end angle(J7) | mm | 70.000 | Diagnosis motion end angle (J7) |
| 241 | Diagnostic end angle(J8) | mm | 70.000 | Diagnosis motion end angle (J8) |
| 251 | Diagnostic speed | % | 50 | Diagnosis motion speed |
| 252 | CALSET on start-up | - | 0 | Using TP App, it is set whether CALSET is executed at the startup. When executing AutoCal command as a supervisory task at the startup, set it to "1: DoNot". 0：Do |
| 253 | Use a start point in spline curve （Version.2.7.* or hidher) |
- |
0 |
Sets whether to check if the robot exists in the start point of free curve interpolation motion when MoveS starts. If this parameter is [1:Enable], an error occurs unless the robot exists in the start point of free curve interpolation motion. Also, if this parameter is [1:Enable], you can select free curve moving method and motion Direction from the path point setting window. For details, refer to the "Path Points Confirmation Window" of "Operation Procedure for the Free Curve Motion" 0 : Disable |
ID : 7299