10.3.5. Pose CFG information

10.3.5. Pose CFG information

 

The pose CFG consists of the axis configuration and coordinates systems of the robot as shown in the table below.

 

 

Table 10-1 .CFG element value structure of pose constant or pose variable

6 bit	5 bit	4 bit	3 bit	2 bit	1 bit	0 bit
0: R1<180 1: R1>=180	0: R2<180 1: R2>=180	0: S<180 1: S>=180	0: flip 1: nonflip	0: Up 1: Down	0: Front 1: Back	0: Designated (manual) 1: Undesignated (auto)
13~10 bit		9~7 bit
0~10 User coordinate number		0: base,  1: robot 2: angle	3: encoder 4: user 6: master

 

 

 

l  0 bit :

auto. config. Function. If it is set as 0, form data assigned to 1 bit ~ 6 bit is applied. If it is set as 1, assigned forms are ignored, and appropriate forms are created.

 

l  9~7 bit :

Coordinates system form of pose. This bit is used, when coordinates system data of pose within program routine should be retrieved. If coordinates system suffix and this bit are different, follow the suffix. If coordinates system suffix and this bit are different, follow the suffix. “CRD” is provided as a member of CFG to make it easy to access this bit. For example, when P1.CFG.CRD=4 is executed, the coordinate system form of P1 is set as user.

 

l 10~13 bit :

User coordinates system number of pose. When the coordinate’s system form is user, the user coordinates system number is essentially used. If the user coordinates system number needs to be read or changed, this bit needs to be used.

 “.UCRD” is provided as a member of CFG to make it easy to access this bit. For example, when P1.CFG.UCRD=2 is executed, the user coordinates system number of P1 is set as 2