B-63790EN/01 4.DESCRIPTION OF PARAMETERS
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6166 Rotation angle when the first rotary axis is a hypothetical axis
[Input type] Parameter input
[Data type] Real axis
[Valid data range] Degree
[Minimum unit of data] Depend on the increment system of the applied axis
[Valid data range] 9 digit of minimum unit of data (Refer to the standard parameter
setting table (A))
(When the increment system is IS-B, -999999.999 to +999999.999)
Specify a rotation angle for the first rotary axis if it is a hypothetical
axis (IA1 (bit 0 of parameter No. 6177) = 1).
6167 Controlled axis number for the second rotary axis
[Input type] Parameter input
[Data type] Integer
[Valid data range] 0 to Number of controlled axes
Specify the controlled axis number for the second rotary axis.
6168 Axis direction for the second rotary axis
[Input type] Parameter input
[Data type] Integer
[Valid data range] 0 to 3
Specify the axis direction for the second rotary axis.
1: X-axis
2: Y-axis
3: Z-axis
4: About the axis at an appropriate angle from the positive direction
of the X-axis to the positive direction of the Y-axis
5: About the axis at an appropriate angle from the positive direction
of the Y-axis to the positive direction of the Z-axis
6: About the axis at an appropriate angle from the positive direction
of the Z-axis to the positive direction of the X-axis
6169 Angle of inclination when the second rotation axis is an angular axis
[Input type] Parameter input
[Data type] Real
[Unit of data] Degree
[Minimum unit of data] Depend on the increment system of the reference axis.
[Valid data range] 9 digit of minimum unit of data (refer to standard parameter setting
table (A))
(For IS-B, -999999.999 to +999999.999)
When the value of parameter No. 6168 is 1 to 3, set 0 degree.
When the value of parameter No. 6168 is 4 to 6, set the angle of
inclination.