Denso RC5 Especificaciones descargar pdf (Pagina 279)

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101

Chapter 12 Robot Control Statements

12-3

4-axis APPROACH P, (100, 200, 300, 45, 1), 70

'Moves to a position 70mm far form a point (100,

200,

'300, 45,1) with posture 1 in +Zb direction (PTP

'control)

APPROACH L, lp1, lf1, SPEED=100

'Moves to a position lf1 far form lp1 in +Zb

direction

'(CP control, internal speed=100%)

APPROACH P, lp2, @P, lf2, S=50

'Moves to a position lf2 far form lp2 in +Zb

direction

'along a path (PTP control, internal speed=50%)

APPROACH L, lp3, 80 'Moves to a position 80 mm far from lp3 in +Zb

'direction (CP control)

Notes

(1) There is a possibility that the approach position obtained from the base

position may lie beyond the motion space of the robot. In such a case, an

error with a level of 6070 (J * software motion limit over, beyond motion

space, a singular point) may occur.

(2) The figure of the approach position becomes that of the base position.

Therefore, there is a possibility that the approach position is beyond the

motion space and “error 667* software motion limit over, beyond the motion

space 2” may occur. In this case, use FIGAPRL and FIGAPRP (refer to

p.12-33 “ FIGAPRL” and p.12-35 “ FIGAPRP”) to calculate the figure of the

approach position, or change the figure using LETF (refer to “10.3 LETF”)

by replacing it using the MOVE instruction as described in REMARKS.

(3) In CP motion, if the current figure (refer to the Owner's Manual “Setting-up,”

Section 4.2, “Figures of the Shoulder, Elbow and Wrist”) and the figure of

the base position are different, error 607F (Robot figure inconsistency)

occurs. However, if the robot can move to change figures, the error does

not occur.

(4) In CP motion, if the robot passes in the vicinity of a singular point (refer to

the “Setting-up Guide,” Subsection 4.1.3 “Boundaries of Robot Figures”),

an error with a level of 6080 (designated speed limit over) may occur and

the motion may stop. In this case, slow down the speed or set 2 or 3 in

optimal load capacity setting mode (refer to p.4-8 “4.6 Optimal Load

Capacity Setting Function”). If the error still occurs, evade the path near

this singular point.

(5) In CP motion, there is a possibility that a 601C warning (change figure)

may occur because the figure of the approach position and that of the base

position do not meet. Change the figure of the base position to the figure

when the motion ends (note that operation is not affected even if the

warning occurs).

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