Denso RC5 Especificaciones descargar pdf (Pagina 294)

100

101

12-18

Notes

(1) If a pose is designated in the position type and the homogeneous

transformation type, the designated pose goes beyond the robot motion

space. As a result of this an error with level 6070 (J* software motion limit

over, out of motion space, singular point) may occur. Be careful when

designating specific figures of 16 to 31.

(2) In CP motion or arc interpolation motion, if the current figure (refer to the

"Setting-up Guide, 4.1.3 Figures of the Shoulder, Elbow and Wrist”) and

the figure at the designated coordinates are wrong, error 607F (Robot

figure incompatibility) may occur. However, no error will occur if it is

possible for the robot to change its figure.

(3) In CP motion and arc interpolation motion, if the robot passes in the

vicinity of a singular point (refer to the "Setting-up Guide, 4.1.3 [2]

Boundaries of Robot Figures”), an error with a level of 6080 (Command

speed limit over) will occur and the robot may stop. In this case, reduce

the speed or set 2 or 3 in the optimal load capacity setting mode (refer to

p.4-8 "4.6 Control Set of Motion Optimization"). If the error still occurs,

avoid the path in the vicinity of the singular point.

(4) In CP motion, warning 601C (Change a figure.) may occur if a figure at

the end of movement is incompatible with the designated figure. Teach

the robot again with a figure at the end of movement (if the warning

occurs it will not affect movement).

(5) For a pass motion in an arc interpolation movement or an encoder value

checking movement, designate the pass start displacement amount to the

destination pose. If the pass start displacement amount is designated as

the relay pose, the movement does not change.

(6) The arc interpolation movement ignores the figure of the relay pose.

Therefore, in order to let the tool end pass the relay pose, set the tool

coordinates at the tool end using the tool definition.

(7) In the arc interpolation movement, if the movement is restarted after an

instantaneous stop during the pass movement when the previous

movement is a pass movement, error 60de “The robot executes rotation

movement different from the designated one.” may occur.

(8) In the arc interpolation movement, if the current pose and the target pose

are the same, the robot does not move. If the current pose and the relay

pose are the same, or the relay pose and the target pose are the same,

the robot moves toward the target pose in CP motion.

(9) (Notes of extended-joint.)

The MOVE with EXA option (absolute motion) is not applicable to any

extended-joints specified for boundless rotation.

(10)( Notes of extended-joint.)

Given below is an example handling a POSE array.

Example: MOVE P,P[3 TO 5]EX((7,30))

The above sample will produce the same result as the

following; that is, the motion of the 7th joint will synchronize with

that of the robot flange to P5.

MOVE P,P3,NEXT

MOVE P,P4,NEXT

MOVE P,P5 EX((7,30))

1 2 ... 289 290 291 292 293 294 295 296 297 298 299 ... 691 692

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