Mitsubishi Electronics RV-6S Appendix Appendix 1 ： Configuration flag, Right/Left

6Appendix

6 Appendix

Appendix 1 ： Configuration flag

The configuration flag indicates the robot posture.

For the 6-axis type robot, the robot hand end is saved with the position data configured of X, Y, Z, A, B and C. However, even with the same position data, there are several postures that the robot can change to. The posture is expressed by this configuration flag, and the posture is saved with FL1 in the position constant (X, Y, Z, A, B, C) (FL1, FL2).

The types of configuration flags are shown below.

(1) RIGHT/LEFT

Q is center of J5 axis rotation in comparison with the plane through the J2 axis vertical to the ground. .

RIGHT	LEFT
	Ｆ Ｌ	１	(Flag １ )
	＆ Ｂ		０ ０ ０ ０	０ ０ ０ ０

	↑
	１ ／ ０ ＝ Ｒ Ｉ Ｇ Ｈ Ｔ ／ Ｌ Ｅ Ｆ Ｔ
Ｑ	Note) "&B" is shows the binary

J2 axis

Rotation center

Fig.6-1 ： Configuration flag (RIGHT/LEFT)

(2) ABOVE/BELOW

Q is center of J5 axis rotation in comparison with the plane through both the J3 and the J2 axis. .

BELOW	Ｆ Ｌ	１	(Flag １ )
	＆	Ｂ	０ ０ ０ ０	０ ０ ０ ０

ABOVE		↑
		１ ／ ０ ＝ Ａ Ｂ Ｏ Ｖ Ｅ ／ Ｂ Ｅ Ｌ Ｏ Ｗ
	J3 axis
		Note) "&B" is shows the binary
	Rotation center

J2 axis

Rotation center

Ｑ

Fig.6-2 ： Configuration flag (ABOVE/BELOW)

Appendix-66Configuration flag