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Chapter 3 Robot Motion

3-15

3.5 Compliance Control Function

3.5.1 Overview

The compliance control function provides compliance for a robot by software.

This function absorbs a position displacement in handling and prevents an

excessive force applied to a robot or a work. This function is divided into two

parts; setting compliance to individual joints (current limiting function) and

compliance function to individual elements of the coordinate system at the tip

of a robot (tip compliance control function).

The current limiting function is available for Ver 1.20 or later and the tip

compliance control function is available for the vertical articulated robot Ver.

1.40 or later (VM-6070D not included).

Note: This function is explained by using PAC libraries in this section.

In version 1.9 or later, the statement commands described on

Section 12.10, “Particular Control” are also available.

3.5.2 Current limiting function for individual axes [V1.2 or

later]

This function sets compliance for individual axes. Limiting the torque of motors

for individual axes realizes compliance. You can specifically use this function

to prevent an excessive force applied to a robot or a work, or to avoid a down

due to over load or over current.

3.5.2.1 How to Use Current Limiting Function

You can use the library function and execute the current limiting libraries

(SetCurLmt, ResetCurLmt) to enable or to disable this function. Make sure to

provide the following setting. See the section for the PAC library for more

information on the library.

(1) Tip Payload Specification (Required)

You should specify the exact mass of payload and payload center of

gravity of the tip. You should set values corresponding to a hand and a

work you use to the mass of payload [g], the payload center of gravity X6

[mm], the payload center of gravity Y6 [mm], and the payload center of

gravity Z6 [mm]. If the mass changes during chucking or unchucking a

work, you should use aspACLD to change the setting.

See the optimal load capacity setting function in the 4.7 “User Preferences”

for more information.

Notes: If you fail to provide exact values, your robot may fall toward the

direction of the gravity when you are setting the current limit.

(2) Gravity Offset Specification (Required)

You should enable the gravity offset specification. Otherwise, you will

receive an error, “665a Current limiting specification is not available”. To

enable the gravity offset, you should use the pendant to set the

enabling/disabling gravity offset setting to 1. To do so, follow the steps

below:

1) On the initial screen of the pendant, press [F2 Arm]→[F6 Aux.]→[F7

Config.]. You will see the configuration parameter screen.

2) Press [F3 Jump] and specify 24. You will see the enabling/disabling

gravity offset setting line.

3) Enter 1 to the enabling/disabling gravity offset setting and press OK.

When you set 1 to the enabling/disabling gravity offset setting, the gravity

offset is always enabled after the calibration is completed.

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