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STE 58760
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3-12
3.3 SETTING THE SYSTEM CONFIGURATION
The configuration of the robot system has been set in the robot configuration file. Thus, it is not
necessary for the user to change the system configuration. However, depending on the application
of the robot system, the contents of the system configuration file may have to be changed. This
paragraph describes the contents of the system configuration file. For details of how to set and
change data, see 3.2, "Changing File Data".
Caution
DO NOT change the data of system configuration files (0) ~ (5) without our prior permission.
3.3.1 Outline of Data
The following data has been set in the system configuration file.
(0)
Robot type
Specifies whether the robot type is the horizontal rotating multi-joint type or the Cartesian
coordinate system type.
(1) Robot axis configuration
Specifies which of the 6 joint axis of the robot are to be used.
(2) Type of joint
Specifies whether the joint type of the robot is a directly moving joint or rotating joint.
(3) Construction of servo
Specifies the number of axis which the servo motors to be used.
(4) Gravity compensated axis
Specifies the axes for which gravity compensation is to be performed. For an axis where
gravity compensation is specified, in the servo free state, the arm is controlled so that it does
not drop under its own weight. The servo free state is a state where the position control
mechanism of the servo motor is turned off so that the robot can be manually moved. For a
horizontal multi-joint robot, only axis 3 can be set as a gravity compensated axis.