Denso RC5 Specifications download pdf (Page 354)

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101

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6-axis (7) Set the mass of payload and the payload center of gravity accurately.

Otherwise, the robot may move down due to gravity if you set a low current limit

value (e.g., less than 30). For the entry procedure of the mass of payload and

the payload center of gravity, refer to the Programmer's Manual, " 4.7 Control

Set of Motion Optimization in User Preferences."

6-axis (8) If the current limit reset value is set to "1," the robot might move down due to

gravity the moment you turn on the motor power. Reset the current limit by

executing

ST_ResetCurLmt

when the motor power is off and then switch on the

motor power.

6-axis (9) If you do not know the accurate mass of payload or its center of gravity or if the

robot moves down in spite of accurate settings, then use the gravity offset

function (

ST_SetGrvOffset

) that compensates for the gravity compensation

value.

4-axis HS-E (10) When setting the current limit to the Z-axis or the T-axis of the 4-axis robot

without an air balance mechanism, the Z-axis may move down or the T-axis may

rotate if you set a low current limit value. Set current limit after execution the

gravity compensation function (

ST_SetZBalance

) for the Z and the T-axis.

Example

6-axis

ST_SetGravity 'Enable the gravity offset.

ST_SetGrvOffset 'Compensate the gravity offset value

ST_SetEralw 2, 20 'Set the allowable deviation of the 2nd axis to 20

'degrees

ST_SetCurLmt 2, 30 'Set the current limit of the 2nd axis to 30%

4-axis

ST_SetEralw 2, 20 'Set the allowable deviation of the 2nd axis to 20

'degrees

ST_SetCurLmt 2, 30 'Set the current limit of the 2nd axis to 30%

4-axis HS-E

ST_SetZBalance 'Set the gravity compensation value of the Z-axis

ST_SetEralw 3, 100 'Set the allowable deviation of the Z-axis to 100 mm

ST_SetEralw 4, 30 'Set the allowable deviation of the T-axis to 30

'degrees

ST_SetCurLmt 3, 10 'Set the current limit of the Z-axis to 10%

ST_SetCurLmt 4, 10 'Set the current limit of the T-axis to 10%

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