Denso RC5 Specifications download pdf (Page 18)

3.2 Confirming Reach Position ............................................................................................................................ 3-3

3.2.1 Pass Motion................................................................................................................................................ 3-3

3.2.2 End Motion................................................................................................................................................. 3-3

3.2.3 Encoder Value Check Motion..................................................................................................................... 3-3

3.2.4 Motion Examples of Pass, End and Encoder Value Check......................................................................... 3-4

3.2.5 Execution Time Difference among Pass Motion, End Motion and Encoder Value Check Motion ............ 3-5

3.2.6 If Pass Motion Does Not Execute .............................................................................................................. 3-6

3.2.7 If Pass Motion Effect Reduces ................................................................................................................... 3-7

3.2.8 If Acceleration Affects Pass Motion Path................................................................................................... 3-8

3.2.9 Pass Start Displacement ............................................................................................................................. 3-9

3.2.10 Arch Motion Control [Version 1.9 or later, only for 4-Axis Robot].........................................................3-11

3.3 Interpolation Control .................................................................................................................................... 3-12

3.3.1 PTP Control.............................................................................................................................................. 3-12

3.3.2 CP Control................................................................................................................................................ 3-13

3.3.3 Arc Interpolation Control ......................................................................................................................... 3-13

3.4 If Output Command Is Present after Motion Instruction.............................................................................. 3-14

3.5 Compliance Control Function ...................................................................................................................... 3-15

3.5.1 Overview.................................................................................................................................................. 3-15

3.5.2 Current limiting function for individual axes [V1.2 or later] ................................................................... 3-15

3.5.3 Tip Compliance Control Function [V1.4 or later] .................................................................................... 3-17

Chapter 4 Speed, Acceleration and Deceleration Designation

4.1 External Speed and Internal Speed................................................................................................................. 4-1

4.2 Speed Designation.......................................................................................................................................... 4-1

4.3 External Acceleration, External Deceleration, Internal Acceleration and Internal Deceleration.................... 4-1

4.4 Setting Acceleration and Deceleration............................................................................................................ 4-2

4.5 Example of Setting Speed and Acceleration................................................................................................... 4-2

4.6 Control Sets of Motion Optimization ............................................................................................................. 4-5

4.6.1 Control Set 0 .............................................................................................................................................. 4-5

4.6.2 Control Set 1 .............................................................................................................................................. 4-8

4.6.3 Control Set 2 .............................................................................................................................................. 4-9

4.6.4 Control Set 3 ............................................................................................................................................ 4-10

4.6.5 Using Conditions That You Must Set ....................................................................................................... 4-10

4.6.6 Notes for Setting........................................................................................................................................4-11

4.7 Setting the Master Control Parameters in User Preferences......................................................................... 4-12

4.7.1 Setting Master Control Parameters of the Mass of Payload, Center of Gravity, and Control Set of Motion

Optimization ......................................................................................................................................................... 4-12

4.7.2 Setting Internal Load Condition Values (Mass of Payload and Center of Gravity) and Internal Mode ... 4-16

4.7.3 Setting Robot Installation Condition........................................................................................................ 4-17

4.7.4 How to Set Optimal Load Capacity Initializing [V1.4 or later] ............................................................... 4-20

4.8 Safety Features ............................................................................................................................................. 4-23

4.8.1 ndTc (Statement) [V1.2 or later] .............................................................................................................. 4-23

4.8.2 ndTs (Statement) [V1.2 or later]............................................................................................................... 4-23

Chapter 5 Vision Control

5.1 Vision Control ................................................................................................................................................ 5-1

5.1.1 Terms of Vision Control ............................................................................................................................. 5-1

PART 2 COMMAND REFERENCE

Chapter 6 Guide to Command Reference

6.1 Description Format of Command Explanations ............................................................................................. 6-1

6.2 Command List ................................................................................................................................................ 6-2

6.2.1 Commands Listed in Alphabetical Order ................................................................................................... 6-2

6.2.2 Commands Listed According to Functions ................................................................................................ 6-2

1 2 ... 13 14 15 16 17 18 19 20 21 22 23 ... 691 692

Denso RC5 Specifications Page 18

Comments to this Manuals

Denso RC5 Specifications Page 18

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