T3-B T6-B Manipulator 17. Restrictions
138
T-B series Rev.1
17.3.3 PG Commands
If executing PG commands, motion error occurs.
PG_FastStop
Stops the PG axes immediately.
PG_LSpeed
Sets the pulse speed of the time when the PG axis starts
accelerating and finishes decelerating.
PG_Scan
Starts the continuous spinning motion of the PG robot axes.
PG_SlowStop
Stops slowly the PG axis spinning continuously.
17.3.4 R-I/O Commands
If executing R-I/O commands/functions, motion error occurs.
LatchEnable
Enable/Disable the latch function for the robot position by the
R-I/O input.
LatchState Function
Returns the latch state of robot position using the R-I/O.
LatchPos Function
Returns the robot position latched using the R-I/O input signal.
SetLatch
Sets the latch function of the robot position using the R-I/O
input.
17.3.5 Force Sensing Commands
If executing force sensing commands/functions, motion error occurs.
Force_Calibrate
Sets zero offsets for all axes for the current force sensor.
Force_ClearTrigger
Clears all trigger conditions for the current force sensor.
Force_GetForces
Returns the forces and torques for all force sensor axes in an
array.
Force_GetForce Function
Returns the force for a specified axis.
Force_Sensor
Sets the current force sensor for the current task.
Force_Sensor Function
Returns the current force sensor for the current task.
Force_SetTrigger
Sets the force trigger for the Till command.
17.3.6 Robot Control Commands
ROTOK Function
Returns whether an ROT modifier parameter can be added
when issuing a move command to a destination.
DiffToolOrientation Function
Returns the angle between the coordinate axes of Tool
coordinate systems. * When COORD_ALL is specified, an
error will occur. When a command except for COORD_ALL is
specified, the operation will be executed.
DiffPoint Function
Returns the difference between two specified points.
17.3.7 Other (FineDist)
You cannot use the command: FineDist
Robot determines the position by set value of Fine even if using FineDist.
Fine
Specifies and displays the positioning error limits.
(Unit: pulse)
FineDist
Specifies and displays the positioning error limits (Unit: mm)
Содержание T-B Series
Страница 1: ...SCARA ROBOT T B series MANUAL Rev 1 EM217R4788F ...
Страница 2: ...SCARA Robots T B series Manual Rev 1 ...
Страница 15: ...TABLE OF CONTENTS T B series Rev 1 xiii T6 B602S J3 165 Appendix D Open Source Software License 167 ...
Страница 16: ...TABLE OF CONTENTS xiv T B series Rev 1 ...
Страница 17: ...Installation This volume describes the flow from unpacking to operation and designing the robot system ...
Страница 18: ......
Страница 40: ...Installation 5 Second Step 24 T B series Rev 1 ...
Страница 42: ......
Страница 58: ...T3 B T6 B Manipulator 2 Specifications 42 T B series Rev 1 2 3 Outer Dimensions 2 3 1 T3 B ...
Страница 59: ...T3 B T6 B Manipulator 2 Specifications T B series Rev 1 43 2 3 2 T6 B ...
Страница 77: ...T3 B T6 B Manipulator 3 Environments and Installation T B series Rev 1 61 T6 B A B ...
Страница 158: ...T3 B T6 B Manipulator 18 Error Code List 142 T B series Rev 1 ...
Страница 160: ......
Страница 168: ......
Страница 178: ...Appendix B Time and Distance of Free Running in Emergency 162 T B series Rev 1 ...
Страница 182: ...Appendix C Time and Distance of Free Running When Safeguard Is Opened 166 T B series Rev 1 ...