Denso RC5 Specifications download pdf (Page 124)

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4.6.3.2 Precautions for Using Control Set 2

• In this control set, an overload error may occur during the robot motion.

When you adjust the speed, check the load rate using the log function of the

load estimation value on the pendant. (Refer to the SETTING-UP MANUAL,

Section 5.3, “Displaying anticipated overloads to the capacity of motors and

brake resistance of the robot controller, [F2]—[F6]—[F10].") Or, check the

load rate using the log function of WINCAPSII (refer to the WINCAPSII

Guide, Chapter 10, “Outline of Log Manager"). If an overload error occurs,

adjust the motor load by setting appropriate values of the timer or internal

speed and acceleration.

• Depending on the motion speed, the path may possibly change by

approximately 20 mm. Therefore, because in the pass motion near

obstacles, the robot may interfere with them, execute control set 0.

• Because the speed may change in the constant speed movement section in

CP motion, perform work that requires constant speed movement in control

set 0 or 1.

• Errors of command acceleration limit over (6761 to 6766) and excessive

deviation (6111 to 6116) may occur in CP motion. If such an error occurs,

adjust the acceleration with internal speed and internal acceleration. A path

shift of up to approximately 5 mm may also occur in high-speed motion.

Therefore, use the robot by reducing the speed if there is an obstacle near

the motion.

• If you stop the robot instantaneously during speed reduction near the vicinity

of a singular point (refer to the SETTING-UP MANUAL, Subsection 4.1.3, “[

2 ] Boundaries of Robot Figures"), the instantaneous stop time may extend.

The instantaneous stop distance, however, remains unchanged.

4.6.4 Control Set 3

In this control set, the robot moves the same as in control set 1 in PTP motion

and control set 2 in CP motion. Refer to “4.6.2 Control Set 1” and “4.6.3

Control Set 2” described above.

4.6.5 Using Conditions That You Must Set

If you determine the mass of payload (end-effector and workpiece) which is

applied on the 6th axis of the robot, set the mass of payload and the center of

gravity position. Set the mass of payload and the center of gravity position in the

using condition of the pendant or WINCAPSII (refer to p.4-8.). You can change

them even with a program in order to change the tool or workpiece. For changing

them with a program, refer to “4.7.2 Setting Internal Load Condition Value (Mass

of Payload and Center of Gravity Position) and Internal Mode.”

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