Denso RC5 Specifiche Scaricare il pdf (Pagina 112)

100

101

3-22

1) Decide an I type variable for teaching number. We assume I10 here.

2) Prepare the following program.

When you use P type variable for teaching:

Program DirectTeach

P(I10)=CURPOS

end

When you use J type variable for teaching:

Program DirectTeach

J(I10)=CURJNT

end

3) Assign teaching position number to I10, move a robot to a teaching

point, and execute DirectTeach.

(5) Setting Tool Coordinate and Work Coordinate

When you use SetFrcCoord to set the force limiting coordinate to the tool

coordinate and execute compliance control, if you use Changetool to

change the tool coordinate under the compliance control, the force limiting

direction will not change. However the tool coordinate will change in terms

of the robot motion. This will cause a discrepancy between the force

limiting coordinate system and the motion coordinate system. This applies

to the work coordinate as well as the tool coordinate.

If you set large values to X, Y, and Z of the tool coordinate to execute

compliance control, the control sensitivity to the change of the robot

posture will be high and a robot may present an oscillation resulting in a

stop by error. If this is the case, you should use SetFrcLimit and

SetCompRate to decrease the parameters gradually from 100.

(6) Continuing Function

The continuing motion is not available during the compliance control. If you

turn off a motor and turn on the motor in a state ready for continuing

motion, you will receive an error “66EF Compliance control is disabled”. If

you start for continuing after a momentary stop, you will receive an error

“66FD PTP motion is not available under the compliance control”.

(7) Recovery after Power Failure

The function for recovery after power failure is not available if the power to

the controller is discontinued under the compliance control.

(8) Robot Motion Accuracy under Compliance Control

When a motion command is executed under the compliance control, the

accuracy of the motion trajectory of a robot decreases. The position in the

force limiting direction may present a large deviation. If you need an

accurate motion, disable the compliance control function.

The stop accuracy of a robot decreases under the compliance control. If

you execute an encoder value check motion (See “4.2.3 Encoder Value

Check Motion”), a robot may stop for a longer period or you may receive an

error “6651 Check command time over”. If you need accuracy for stop,

disable the compliance control function.

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