Notes on use, 1 range of operation and home return – IAI America RCP2-RTCBL User Manual
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9. Notes on Use
9. Notes on Use
9.1
Range of Operation and Home Return
z Range of operation (position setting)
The angle of movement from the home position determines the position value.
x 330-degree rotation specification: Position specification range = 0 to 330 degrees
x Multi-rotation specification: Position specification range = As specified below.
Mode
Absolute position specification
Relative position specification
Rotational axis, normal mode
-0.15 to +9999.15
-9999.30 to +9999.30
Rotational axis, index mode
0 to 359.99
-360.00 to +360.00
* For details, refer to the specification sheet of your controller.
z Angular velocity and acceleration/deceleration commands
Rotation angle commands are issued based as angular velocity (deg/sec).
Accelerations and decelerations are specified in “G” in operation programs.
Small type: RTBS, RTCS, RTBSL, RTCSL
Rated angular acceleration/deceleration: 0.2 G = 1,960 deg/sec
Medium type: RTB, RTC, RTBL, RTCL / Large type: RTBB, RTCB, RTBBL, RTCBL
Rated angular acceleration/deceleration: 0.3 G = 2,940 deg/sec