Denso RC5 Specifications download pdf (Page 173)

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Chapter 7 PAC Language Configuration Elements

7-15

[ 2 ] Joint Type Constant

A joint type constant is constructed of each axis value from the 1st to 6th.

Each axis value is expressed using single type real. The unit is degrees.

Example: Joint type constant is assigned to axis type

variable J1.

J[0] = (10,20,30,40,50,60) '1~6 axes:

10°,20°,30°,40°,50°,60°

The element component of a joint type variable can be ignored in the middle of

programming. If it is ignored, “0” is designated. You cannot ignore the J1

component.

For example,

J[0] = (10,20)

and

J[0] = (10,20,0,0,0,0)

have the same meaning.

[ 3 ] Homogeneous Transformation Type Constant

A homogeneous transformation type constant is a pose constant that is

expressed with 3 vectors of position, orient and approach, and with figure.

The 3 vectors are expressed with 3 single precision real type parameters

respectively. Therefore, the homogeneous transformation type constant

should be expressed with 10 single precision real type parameters.

The unit for the 3 elements of a position vector is mm.

Note: The orient vector and the approach vector are both unit vectors

with a size of 1 and must vertically intersect each other. If a

vector is designated that does not satisfy the above conditions

and it is in turn used with the motion command, the system

takes priority over the approach vector and executes motion

after automatically crossing the orient vector.

Example: Assigns homogeneous transformation type constant

to homogeneous transformation type variable T1.

T[1] = (10,20,30,1,0,0,0,1,0,4)

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Denso RC5 Specifications Page 173

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