10.3.5. Pose CFG information

10.3.5. Pose CFG information

 

The CFG of the pose consists of the robot’s recording form (configuration) and coordinate system as shown in the table below.

 

Table 10-5 .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)
	15 bit	14 bit	13~10 bit		9~7 bit
	0: |B|<180 1: |B|>=180 (for the painting robots)	reserved	0~10 User coordinate number		0: base 1: robot 2: angle	3: encoder 4: user 6: master

 

 

 

l  For the robot’s recording form, refer to “2.5.3.2. Base or Robot recording coordinate” section.

 

l  0 bit :

If 0 is set, the type information designated in 1 bit ~ 6 bit and12 bit will be applied. If 1 is set, the auto.config function, which ignores the designated type and generates a proper type, will be used.

 

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

 

 

Table 10-6 Pose member

Member	Meaning	Scope or unit	Example and description
X, Y, Z	Cartesian position	mm	P9.X=V200!*1000 IF P3.Z<0 THEN *ERR (Accessible only in the Cartesian coordinate system)
RX, RY, RZ	Cartesian angle	deg.	P9.RY=V210! IF P3.RZ=0 THEN 100 (Accessible only in the Cartesian coordinate system)
T1~T10	Additional axial value	mm or deg.	P15.T1= P15.T1+100
J1~J16	Axial value	mm or deg.	PRINT #0,”R1=”;P20.J6 (Accessible only in the axial coordinate system)
CFG	Robot shape	bit-field (16bit)	P9.CFG=&H0001 (See the Pose Configuration Table.)
CFG.CRD	Type of coordinate system	0~6	P9.CFG.CRD=2 (This sets the coordinate system of Parameter P9 as the axial coordinate system. When the type of coordinate system is changed, coordination system conversion will be carried out.)
CFG.UCRD	User coordinate system number	0~10	P9.CFG.UCRD=1
UNIT	Unit number	0~7	P50.UNIT=2 (This sets the unit number of Parameter P50 at 2.)
EXIST	Existence of parameter (read-only)	1 (Yes) 0 (No)	IF P35.EXIST=0 THEN *NO_POSE (If Parameter P35 is not defined, it branches to *NO_POSE.)