injury could result. The value of the tool change area radius must be verified so
that it does not cause any dangerous situation when robot moves in the tool
change area radius even though the actual tool shape is different from the model
shape.
3.8.2
DCS TOOL FRAME MENU
The DCS Tool Frame menu is displayed by pressing the ENTER key or the F3(DETAIL) key while on the "Tool frame" item in the DCS Top menu.
In this menu, the DCS tool frame, tool select and tool change area radius are setup.
DCS Tool frame 1/12 Group: 1 Status Tool select: 0 OK (0:FacePlate,-1:Tool change) Current Tool: 0 Tool change area radius(mm): 0.0 OK No. Model VerifyI/O 0 0 ---[ 0: ] OK X: 0.0 W: 0.0 Y: 0.0 P: 0.0 Z: 0.0 R: 0.0 0 0 ---[ 0: ] OK X: 0.0 W: 0.0 Y: 0.0 P: 0.0 Z: 0.0 R: 0.0 [ TYPE] GROUP
Items in the DCS Tool frame menu
Item Description
Group The motion group number is displayed.
Tool select Used to set the DCS tool frame number that is selected for this motion group.
When this is set to 0, the currently selected DCS tool frame is the flange frame, and tool model is disabled.
When this is set to -1, tool change is enabled. The DCS tool frame is switched dynamically according to the selection of the standard tool frame. To use tool change, you need to set Safe I/O for all selectable DCS tool frames, and the Safe I/O must be controlled to be the correct status according to the current tool frame.
Current tool The currently selected DCS tool frame number is displayed. Tool change area
radius
Used to the radius of the tool change area. It is used when tool change is used ("Tool select" is set to -1). When the verify I/O status does not match the currently selected tool frame and the robot flange center moves more than this radius, an alarm occurs.
No. Used to set the DCS tool frame number.
If a standard tool frame with the same tool frame number exists, the data (X,Y,Z,W,P,R) is copied from the standard tool frame to the setting parameter of the DCS tool frame.
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Item Description
Model Used to set the user model number that is used as the tool model of this DCS tool frame. When this is set to 0, tool model is disabled.
When this DCS tool frame is selected, the tool model is enabled.
Verify I/O Used to set the Safe I/O to be used as the Verify I/O for this DCS tool frame.
When tool change is used ("Tool select" is set to -1), all DCS tool frames that can be selected need to have a Verify I/O.
The Verify I/O of the current selected DCS tool frame should be ON, and the verify I/O of the other DCS tool frames should be OFF.
NOTE - If the Safe I/O Connect option is not loaded only the SPI[1-4](OPSFTY1-4) signals can be used as disabling inputs.
R-30iA Mate does not have SPI[1-4](OPSFTY1-4). Status The status of the DCS tool frame is displayed.
OK: Setting parameter and DCS parameter are the same.
CHGD: Setting parameter is changed, but not applied to DCS parameter.
PEND: Setting parameter is changed and applied to DCS parameter, but controller power has not been cycled.
X,Y,Z,W,P,R The data of the DCS tool frame is displayed.
When a standard tool frame which has the same tool frame number exists, these items cannot be changed directly.
When a standard tool frame with the same frame number does not exist, these items can be set directly.
Operation of DCS Tool frame menu
Operation Description
F2(GROUP) Used to change the motion group
F5(UNDO) UNDO the items in this menu. The setting parameters become the same as the current DCS parameters.
PREV The DCS Top menu is displayed.
3.9
DCS USER FRAME
Some DCS functions use a DCS User Frame that is part of the DCS parameters. These user frames are separate from the standard user frames. The DCS User Frame are used by the following DCS functions. - The base frame of the safe zone in the Zone Check function
- The base frame of the base orientation safe zone in the Orientation Check function
- The base frame of the direction in the Cartesian Speed Check function when the direction is not ALL. All DCS User Frames are disabled (DCS user frame number is 0 in the DCS User Frame menu) by default. A DCS User Frame is enabled by setting the DCS user frame number to something other than 0. The standard user frame data (X,Y,Z,W,P,R) of the same user frame number is then copied to the setting parameter of the DCS user frame automatically.
When the standard user frame data is changed, the setting parameter of the corresponding DCS user frame is updated automatically and the alarm "SYST-212 Need to apply to DCS param" occurs.
When the DCS user frame number is set to a value that does not correspond to a standard user frame number (for example 100), the DCS user frame data (X,Y,Z,W,P,R) can be manually entered in the DCS User Frame menu.
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