Nachi EZ-CFDL Series Instruction Manual Download Page 42

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3.18Position resume setting

3.18.2

Position recovery at Servo ON

The posture at the position on the command path when the motor power is turned off is stored in the memory,

and the robot is automatically moved to return to that posture when the motor power is turned back on. This

and the robot is automatically moved to return to that posture when the motor power is turned back on. This
means that, when restart is initiated, the

means that, when restart is initiated, the same path is drawn as the one

same path is drawn as the one drawn under normal circumstances

drawn under normal circumstances. This

. This

function is also called the

function is also called the "Previous position return function."

"Previous position return function."

The differences in the position and posture between the time when the motor power is turned off and the time

when it is turned back on are defined by the differences in the distance of the tool tip position and angle (robot

when it is turned back on are defined by the differences in the distance of the tool tip position and angle (robot
wrist posture), and whether to perform the return operation or not is set depending on the extent of these

wrist posture), and whether to perform the return operation or not is set depending on the extent of these
differences.

differences.

Table

able 3.18.1

3.18.1 Position Recovery

Position Recovery at

at Servo

Servo ON

Setting item

Description

Recovery Limit

If both the distance and angle are within the values set here, the automatic return

operation is performed. If the distance or

operation is performed. If the distance or the angle has exceeded the

the angle has exceeded the value set here,

value set here,

an “Information” message appears when the motor power is turned on, and the return

an “Information” message appears when the motor power is turned on, and the return
operation is not performed.

operation is not performed.
If the distance has been set t

If the distance has been set t o 0 mm, the return decision is not

o 0 mm, the return decision is not based on the distance.

based on the distance.

If the angle has been set to 0 degrees, the return decision is not based on the angle.

If the angle has been set to 0 degrees, the return decision is not based on the angle.
If both the distance and angle have been set to zero, the automatic return function

If both the distance and angle have been set to zero, the automatic return function
which is performed when the servo is turned on

which is performed when the servo is turned on is canceled.

is canceled.

Error Limit

If the distance or the angle has exceeded the value set here, an error is detected

when the motor power is turned on, and operation cannot be started until the error

when the motor power is turned on, and operation cannot be started until the error
reset operation is performed.

reset operation is performed.

After that, the robot cannot restart un

After that, the robot cannot restart until one of the following operations is perform

til one of the following operations is performed.

ed.