IAI America XSEL-S - Manual (Page 341)

Chapter 6 Parameter
6.2.1 For XSEL-R/S
333
Parameters Common to All Axes (XSEL-R/S)
No. Parameter name
Default
value
(reference)
Input range Unit Remarks
122
Vision System I/F 1
Coordinate Datum Point Offset
X
0
-99999999
to
99999999
0.001
mm
Robot coordinate X on Vision System I/F 1
coordinate (X = 0, Y = 0)
* Setting is to be established at vision system I/F
adjustment.
123
Vision System I/F 1
Coordinate Datum Point Offset
Y
0
-99999999
to
99999999
0.001
mm
Robot coordinate Y on Vision System I/F 1
coordinate (X = 0, Y = 0)
* Setting is to be established at vision system I/F
adjustment.
124 Vision System I/F 1
Coordinate Offset Angle
0
-99999999
to
99999999
0.001
deg
Rotation angle of Vision System I/F 1 coordinate
when robot coordinate is taken as the datum
* Setting is to be established at vision system I/F
adjustment.
125
Vision System I/F 1
Z-axis Direction Vision System
Position Judgment Datum
0
-99999999
to
99999999
0.001
mm
(Related Information: All Axes Parameter No. 130
“Vision System I/F 1 Control 2”)
126
Vision System I/F 1
X-Axis (GTVD Acquirement
Data) Adjustment Offset
0
-99999 to
99999
0.001
mm
127
Vision System I/F 1
Y-Axis (GTVD Acquirement
Data) Adjustment Offset
0
-99999 to
99999
0.001
mm
128
Vision System I/F 1
R-Axis (GTVD Acquirement
Data) Adjustment Offset
0
-360000 to
360000
0.001
deg
129 Vision System I/F 1 Control 1 0H
0H to
FFFFFFFF
H
Bits 0 to 3: System Reservation
Bits 4 to 11: System Reservation
Bits 12 to 19: System Reservation
Bits 20 to 23: R-axis adjustment sign reverse
(0: Not to reverse code
1: Reverse code)
Bits 24 to 31: Reserved
130 Vision System I/F 1 Control 2 0H
0H to
FFFFFFFF
H
Bits 0 to 7: Position judgment datum distance in
Z-axis direction [0.1mm]
(In installation with robot on top,
invalid when set to “0”)
Bits 8 to 11: Vision Installation Type
(0: Solid installation (not installed on
robot))
1: Installation on robot)
* Setting is to be established at vision system I/F
adjustment.
Bits 12 to 31: Reserved
131 (For expansion)
132 (For expansion)
133 (For expansion)
134 (For expansion)
135 (For expansion)
136 (For expansion)
137 (For expansion)
138 (For expansion)
139 (For expansion)
140 (For expansion)
141 Reserved by the system
(change is prohibited)
142 Reserved by the system
(change is prohibited)
143 Reserved by the system
(change is prohibited)
144 Reserved by the system
(change is prohibited)
145 Reserved by the system
(change is prohibited)
146 Reserved by the system
(change is prohibited)