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STE 58760
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3-18
3.3.3 Details of Data
This paragraph describes details of individual data of the system configuration file.
(0) Robot type
Specifies the robot type to be used.
For horizontally articulated types ... [= "SR-HS"]
For Cartesian coordinate system types ... [= "SR-L"]
(1) Robot axis configuration
Specifies which of the jointed axes 1 to 4 are to be used. The setting is to be changed when the
number of axes of the robot is less than four, or when a servo motor is to be used outside of the
robot. The data are to be specified for 4 axes separated with a space. To use an axis, set
that axis to "1". To not use an axis, set that axis to "0".
Example)
When the Z axis is not used for a horizontally articulated type robot, set the data to [= 1 1 0 1].
Note 1)
Robot axes vary by robot type. For details of the robot axes, see the Transportation and
Installation Manual.
Note 2)
This data should be set for all four axes.
(2) Type of joint
Specifies whether the joint type of the robot is a directly moving joint or rotating joint. The data
are to be specified for 5 axes separated with a space. To use the linear moving axis, set that
axis to "0." To use the rotating joint, set the axis to "1."
Example)
When axes 1, 2, and 4 use the rotating joint and axes 3 and 5
use the linear moving joint, set to
[= 1 1 0 1 0].