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ID : 10118
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General conditions of robot use.
Setting with the Smart TP
To set the following parameters, from the top menu of the smart TP, tap [F2 Arm] - [F6 Aux] - [F1 Config] to display the parameter list.
For details about operation, refer to "Displaying and Setting the Configuration" of Smart TP Operation Guide.
Parameter List
Default values are different from robot types. The following shows an example of VMB series.
| No. | Items | Unit | Default | Description |
|---|---|---|---|---|
| 1 | Mass of payload | g | 25000 | 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 | 126 | Y component of payload center of gravity (consisting of end-effector and object) |
| 4 | Payload center of gravity Z |
mm | 60 | Z component of payload center of gravity (consisting of end-effector and object) |
| 5 | Payload moment of inertia Ix | kgcm2 | 0 | Moment of inertia around X axis (consisting of end-effector and object) |
| 6 | Payload moment of inertia Iｙ | kgcm2 | 0 | Moment of inertia around Y axis (consisting of end-effector and object) |
| 7 | Payload moment of inertia Iｚ | kgcm2 | 0 | Moment of inertia around Z axis (consisting of end-effector and object) |
| 8 | Control set of motion optimization | - | 3 | 0: Disable 1: PTP 2: CP 3: PTP, CP |
| 10 | Floor-mount, or Overhead-mount |
- | 0 | 0: Floor-mount 1: Overhead-mount |
| 11 | Efficiency of gravity effect |
- | 1 | 0 : Gravity compensation feature disabled 1 : Gravity compensation feature enabled |
| 12 | DEFLECTION mode setting | - | 1 | Modify the robot arm's deflection caused by the gravity depending on the motion position, posture, load conditions, automatically. 0 : Disabled 1 : Enabled |
| 14 | Restoration of TOOL/WORK/BASE data | - | 0 | If this option is enabled, once the controller turns ON, it operates with the same TOOL/WORK number as the controller turned OFF last time. |
| 17 | Angle for position allowance (J1) | deg | 0.00870 | |
| 18 | Angle for positioning allowance (J2) | deg | 0.00732 | |
| 19 | Angle for position allowance (J3) | deg | 0.00703 | |
| 20 | Angle for position allowance (J4) | deg | 0.01038 | |
| 21 | Angle for position allowance (J5) | deg | 0.01143 | |
| 22 | Angle for position allowance (J6) | deg | 0.02166 | |
| 23 | Angle for position allowance (J7) | mm | 0.12207 | |
| 24 | Angle for position allowance (J8) | mm | 0.12207 | |
| 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 and Servo log mode | s | 10 | The recording time can be set in the range from 1 to 1920 [s] in 1[s] unit. The number of saved logs is up to 60,000. For details, refer to "Logging". |
| 27 | Control log and Servo log sampling time | ms | 1 | The recording interval can be set in the range from 1 to 32 [ms] in 1[ms] unit. The number of saved logs is up to 60,000. For details, refer to "Logging". |
| 34 | Positive software motion limit (J1) | deg | 170.000 | |
| 35 | Positive software motion limit (J2) | deg | 150.000 | |
| 36 | Positive software motion limit (J3) | deg | 170.000 | |
| 37 | Positive software motion limit (J4) | deg | 200.000 | |
| 38 | Positive software motion limit (J5) | deg | 145.000 | |
| 39 | Positive software motion limit (J6) | deg | 360.000 | |
| 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 | -170.000 | |
| 43 | Negative software motion limit (J2) | deg | -100.000 | |
| 44 | Negative software motion limit (J3) | deg | -130.000 | |
| 45 | Negative software motion limit (J4) | deg | -200.000 | |
| 46 | Negative software motion limit (J5) | deg | -145.000 | |
| 47 | Negative software motion limit (J6) | deg | -360.000 | |
| 48 | Negative software motion limit (J7) | mm | 0.000 | |
| 49 | Negative software motion limit (J8) | mm | 0.000 | |
| 50 to 57 |
Reduce Gain (J1 to J8) | % | 0 | Setting the reduce gain rate of axis (J1 to J8) |
| 60 | Setting of singularity avoidance mode | - | 0 | 0 : Disabled 2 : Enabled |
| 78 | Ambient temperature | degC | 30 | Set in accordance with the ambient temperature. If the ambient temperature setting is incorrect, robot may stop with an error. |
| 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 |
| 123 | Disable protective stop dual channel check | - | 0 | Specify whether to detect the inconsistency between protective stop signals. 0 : Enabled |
| 124 | Protective stop dual channel check cycle | s | 0.5 | Specify the insensitive time before the detection. This item is available when Safety IO-less specification is selected. |
| 136 | Temperature Drift Offset | - | 0 | Compensate deviation caused by the thermal expansion of the robot arm so as to minimize the decrease of positional accuracy. 0 : OFF1 : ON (FIG priority) 2 : ON (Angle priority) |
| 138 | RC7 compatible robot model parameters mode | - | 0 | 0 : Disable 1 : Enable |
| 141 | Manual mode setting | - | 1 | This option specifies the operation mode of the manual mode selected at the time of the controller 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 controller start-up. Tool number: 0 to 63 |
| 143 | WORK number setting | - | 0 | This option specifies the WORK number selected at the time of controller start-up. WORK number: 0 to 7 |
| 153 | Speed setting for b-CAP Slave | - | 0 | 0: Servo Limit 1: Servo Limit(ExSpeed) 2: Command Limit 3: Command Limit(ExSpeed) |
| 154 | Minimum time required of between teaching coordinates | s | 0.10000 | |
| 155 | Minimum value of speed rate | - | 0.01000 | |
| 156 | Max data size | - | 200 | |
| 157 | Default of area size | - | 4.00000 | |
| 158 to 163 | Offset value of locating optimization fig(J1 to J6) | - | 0.00000 | |
| 164 | Offset value of locating optimization fig(J7) | - | 90.00000 | |
| 165 | Offset value of locating optimization fig(J8) | - | 90.00000 | |
| 166 | Threshold of convergence | - | 0.01000 | |
| 167 | Threshold of locating neighborhood coordinate | - | 0.00100 | |
| 168 | Max displacement | mm | 200.00000 | |
| 169 | Setting of the jig(Height) | - | 210.00000 | |
| 170 | Setting of the jig(Width) | - | 228.00000 | |
| 171 | Flange 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(J1 to J8) | - | 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 | Flange position encoder value check motion judgment time | ms | 16 | Set the time to be used for the judgment of Speed or Time on the Flange position encoder value check motion judgment mode. |
| 181 to 188 | Each axis encoder value check motion judgment time(J1 to J8) | ms | 16 | Set the time to be used for the judgment of Speed or Time on the Each axis encoder value check motion judgment mode. |
| 215 | HighPathAccuracy setting | - | 1 | This option specifies whether the HighPathAccuracy setting will enable or disable. 0 : Disable 1 : Enable |
| 218 | Display easy setting on start-up | - | 0 | Specify whether the Easy setting dialog is displayed at the controller startup or not. 0 : Not displayed 1 : Display (Default) |
| 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. |
| 221 | ForceSensorPayload command setting | - | 1 | This option specifies how the ForceSensorPayload 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 to 231 | Diagnostic start angle(J1 to J6) | deg | 0.000 |
|
| 232 | Diagnostic start angle(J7) | mm | 0.000 | |
| 233 | Diagnostic start angle(J8) | mm | 0.000 | |
| 234 to 239 | Diagnostic end angle(J1 to J6) | deg | 0.000 | |
| 240 | Diagnostic end angle(J7) | mm | 0.000 | |
| 241 | Diagnostic end angle(J8) | mm | 0.000 | |
| 251 | Diagnostic speed | % | 50 | |
| 253 | Use a start point in spline curve |
- | 0 | 0: Disable |
264 |
Move space change for Hanging type |
- | 0 |
|
| 268 | COBOTTA IP Address(Remote Mode)[IP Address] | - | 0.0.0.0 | |
| 272 | Programming assist IO Number 1 | - | -1 | |
| 273 | Programming assist IO Number 2 | - | -1 | |
| 274 | Programming assist get pos number | - | -1 | |
| 275 | Programming assist get pos type | - | 0 |
0: J 1: P 2: T |
| 277 | Programming assist recording path number | - | 0 | |
| 284 | Slave Control output I/O number | - | -1 | |
| 285 | Slave Control bit mask of scaling joint | - | 1 | 0: Disabled 1: 1st Joint Enabled 32: 6th Joint Enabled 33: 1st and 6th Joint Enabled |
| 287 | Programming assist write command setting 1 | - | 1 | 0: Disable |
| 288 | Programming assist write command setting 2 | - | 0 | 0: Disable |
| 289 | Programming assist write command setting 3 | - | 0 | 0: Disable |
| 298 | Slave Contorol movement speed | % | 100 | |
| 309 | Number of VirtualHome used | - | 20 |
ID : 10118