Denso RC5 Specifications download pdf (Page 111)

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Chapter 3 Robot Motion

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3) Exceeded speed limiting reference under the compliance control (60FC)

A high speed motion is not available under the compliance control. This

error occurs when the product of the internal speed and the external

speed exceeds 50%. When this error occurs, you should reduce the

internal speed setting.

4) PTP motion is not available under the compliance control (60FD)

The PTP motion (see 3.3.1 “PTP Control”) is prohibited under the

compliance control. This error occurs when you execute a PTP motion.

You should change to the CP motion or execute a PTP motion after you

disable the compliance control. Also, this error occurs when you start

for continuing motion or restart in the resuming path mode.

5) Current position exceeds J* soft limit under the compliance control

(66D*)

A robot may move to a position exceeding a soft limit due to an external

force under the compliance control. Then, this error happens. Though

a motor will not be turned off in the manual mode when a soft limit is

exceeded, a motor will be turned off when this error occurs under the

compliance control.

(2) For Adjusting Safely

A robot may fall in the direction of gravity due to an error in the parameter

setting or moves toward an unexpected direction due to an external force

under the compliance control.

To secure the safety for adjusting, do not set the excessive values for the

allowable angle deviation and the allowable position deviation. Also use

SetCompEralw to set smaller values than the initial values (10 [mm] for

translation along and 5 [degree]) for rotation about X, Y and Z axes) for

allowable deviations in directions other than the force limiting direction

before adjusting.

(3) Adjusting Parameters for Compliance Control Functions

Adjust limited force under compliance control based on the force limiting

rate. However the relation between the force limiting values and the force

limiting rate varies depends on the posture and the direction of a robot.

Adjust the force limiting parameters for each force limiting posture and

direction.

A robot profiles in the direction of an external force when a joint torque due

to the external force becomes larger than the static friction of a joint. On

the other hand, the static friction is larger than a joint torque due to an

external force, a robot stays in equilibrium.

A robot may move toward the force limiting direction (the direction of

reference value) if the equilibrium between the friction and the limited force

changes as the result of the friction change due to the posture alteration

during robot operation under compliance control. Pay attention to the robot

motion toward the force limiting direction when you operate a robot while

controlling the compliance.

(4) Position Teaching

You can use the function for setting positing to variables to teach position

of a robot. The position setting into variables is the current position

reference of a robot. When you push a robot to move and set positions

(direct teaching) under the compliance control, there are difference

between the position reference and an actual position. Please follow the

procedure below to teach positions under the compliance control.

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Denso RC5 Specifications Page 111

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