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3.5. Settings Related to the Robot’s Manipulator and “.sy” file

 

The “.sy” file is a text file that contains several settings related to the Robot Manipulator.

The default “.sy” file exists in the “/usr/Robcad/LIBRARIES/ROBOTS_HYUNDAI/hs165_02.co” directory, and its contents are as follows. (Setting values for each additional axis will be listed on the back of the item name.)

 

CLEARENCE -20  -15

EXT_RATIO 1.2  1

 

Table 3‑3 Meaning of each item in the “.sy” file

Item

Meaning

CLEARENCE

Servo gun clearance coordinates, which is only applied when executing a MOP-type simulation.

(Caution: Location value should be recorded rather than clearance width.)

A value of -99 means that it is not being used.

EXT_RATIO

Reduction ratio of the additional axis, which will be applied at the time of uploading/downloading

[download] Value of additional axis in ROBCAD * EXT_RATIO = Value of additional axis in work file

[upload] Value of additional axis in ROBCAD = Value of additional axis in work file / EXT_RATIO

If no value is assigned, 1 will be applied.

 

Do not directly modify the default “.sy” file, even if the value needs to be modified. The default “.sy” file will be applied to all work cells of all projects used by calling a corresponding robot, so it should not be modified at the user’s discretion.

 

ROBCAD first finds the “.sy” file with the robot instance name from the work cell directory, and then applies it. If there is no such file, ROBCAD finds the default “.sy” file from the library directory and applies it. By doing this, it copies the default “.sy” file into the work cell as a file with the instance name of the robot being used. The setting that you want can be applied by modifying this copied file