Denso RC5 Specifications download pdf (Page 106)

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Though you can also use SetGravity and ResetGravity to enable/disable

the gravity offset, your robot may present a slight movement while

switching between the enabled state and disabled state. We recommend

that you use the configuration of the pendant to set the enabling/disabling

gravity offset setting to 1 and call SetGravity once in your initialization

program.

(3) Gravity Offset Compensation (If Applicable)

The difference between the setting of the mass of payload of the tip and

the actual mass of payload may present an error in the gravity balance

based on the gravity offset. When you set a smaller current limit to an axis

where gravity applied, your robot may fall toward the direction of gravity.

The gravity offset compensation function compares the torque at the

stationary state of your robot and the gravity offset torque to compensate

the error. When you set the current limit to 30% or less for an axis where

gravity applied, always set the gravity offset compensation.

You should execute SetGrvOffset to have compensation value calculated

when the robot is stopping. The value you will obtain is for the posture

when SetGrvOffset is executed. You should execute SetGrvOffset again

when the posture deviates largely from that when compensated.

Executing SetGrvOffset may generate a compensation value including an

error when an external force such as a contact is applied to the robot. Run

SetGrvOffset when the external forces (except for gravity) are not present.

(4) Allowable Deviation Specification (If Applicable)

If an external force is applied while current is limited, joint will rotate toward

the direction of the force. This will increase the deviation of the angle of

the joint and may cause an error, “612* J *Excessive Deviation”. If this is

the case, you should use SetEralw to set the allowable deviation

specification. The function checking deviation is provided for safety. You

should not extend the range.

(5) Library Execution Procedure

■ When Current Limiting Enabled

1) Use the pendant to set the enabling/disabling gravity offset setting to 1 in

the configuration.

2) Add the following statement to your initialization program.

CALL SetGravity

3) Enable the current limiting. Provide (statement) when necessary.

Wait until an action is completed.

(CALL SetGrvOffset) ‘Calculate the gravity offset compensation value

CALL SetCurLmt(n1, m1) ‘Set the current for n1 axis to m1 (%) of the

rating

(CALL SetEralw(n2, m2)) ‘Set the current for n2 axis to m2 (%) of the rating

■ When Current Limiting Disabled

CALL ResetCurLmt(0) ‘Reset the current limits for all axes and initialize

the allowable deviation

(CALL ResetGrvOffset) ‘Initialize the gravity offset compensation values

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Denso RC5 Specifications Page 106

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