Data of an axis-specific workspace
The data of an axis-specific workspace used in some function blocks are described in advance here.
This data is defined with the following elements in the AXBOX variable.
Robot axes
Element | Data type | Unit | Description |
|---|---|---|---|
A1_N | REAL | mm/° | Lower limit for axis angle |
A2_N | REAL | mm/° | |
A3_N | REAL | mm/° | |
A4_N | REAL | mm/° | |
A5_N | REAL | mm/° | |
A6_N | REAL | mm/° | |
A1_P | REAL | mm/° | Upper limit for axis angle |
A2_P | REAL | mm/° | |
A3_P | REAL | mm/° | |
A4_P | REAL | mm/° | |
A5_P | REAL | mm/° | |
A6_P | REAL | mm/° |
Additional axes
Element | Data type | Unit | Description |
|---|---|---|---|
E1_N | REAL | mm/° | Lower limit for axis angle |
E2_N | REAL | mm/° | |
E3_N | REAL | mm/° | |
E4_N | REAL | mm/° | |
E5_N | REAL | mm/° | |
E6_N | REAL | mm/° | |
E1_P | REAL | mm/° | Upper limit for axis angle |
E2_P | REAL | mm/° | |
E3_P | REAL | mm/° | |
E4_P | REAL | mm/° | |
E5_P | REAL | mm/° | |
E6_P | REAL | mm/° |