Denso RC5 Specifications download pdf (Page 347)

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Chapter 12 Robot Control Statements

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12.10 Particular Control

This section describes newly added commands (statements) that have been used as

servo-related PAC libraries. Using these commands will improve the efficiency of

program development.

ST_aspACLD (Statement) [Ver.1.9 or later]

Function

Changes the internal load condition values. There are the mass of payload, noted in

grams (g), and the payload center of gravity, noted in millimeters (mm), for the load

condition values. Designate both of them. (See Note1.)

Format

ST_aspACLD <Mass of payload>, <Payload center of gravity coordinate X >,

<Payload center of gravity coordinate Y>, <Payload center of gravity

coordinate Z>

Note1: For 4-axes robot, <Payload center of gravity coordinate Z> is replaced with

<Inertia of payload (kgcm

Explanation (Example for 6-axces robot)

The mass of payload is the mass of load (tool and workpiece) mounted on the 6th

axis of the robot. This unit is designated as (g).

For the load center of gravity position, designate the payload center of gravity using

the TOOL0 coordinates. The unit is millimeters (mm). (See Note1.)

The reference position of the TOOL0 coordinates is in the center of the 6th axis

flange. For component Y, the direction is from the flange center to the pinhole of

φ5H7 (orientation vector direction). For component Z, the direction is vertical to the

flange surface through the flange center (approach vector direction). For component

X, the direction of the X axis (normal vector direction) is the right-hand coordinate

system, when the orientation vector is set to the Y axis and the approach vector is set

to the Z axis. Refer to "4.7 Control Set of Motion Optimization in User Preferences."

Even if you change only one of the four values of the mass of payload, the payload

center of gravity X6, the payload center of gravity Y6, and payload center of gravity

Z6 ,describe all of the 4 values again.

It takes about 0.1 sec. to switch the load condition values. Frequently switching the

load condition may cause operational delays. Do not change the mode during pass

motion while near an obstacle because the path locus may shift. This may delay

switching if you change the load condition values.

Related Terms

Refer to the Programmer's Manual, " 4.7 Control Set of Motion Optimization in User

Preferences."

Example

ST_aspACLD 8500,-50,100,80 'Sets the internal payload conditions.

'Mass of payload:8500(g), Payload center of

'gravity component X: -50(mm), component Y:

'100(mm),component Z: 80(mm)

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