IAI RA Series, Инструкция по эксплуатации

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5. Practical Settings
132
5.3.7. Caution
Pay attention to the followings when moving an actuator using the positions calculated in coordinate
conversion commands.
•
As there is no software limit check performed on the coordinates calculated in coordinate
conversion commands, there may be a case that an error (Error No. 73 “Target Track Soft Limit
Exceeding Error”) would occur when operated actually with a movement command. Check the
limit in SEL program if necessary.
• As the operation using coordinate conversion commands is just the operation of each axis,
such movement as to pass a track on a curve, which the cartesian part and wrist part are
interpolated and controls the tip cannot be performed.
• In case of the cartesian part having the standard motion control and wrist part the extension
motion control, separate SEL commands (such as MOVP and XMVP) should be used for the
operation of each axis. If it is necessary to have them operated together crease each SEL
program and synchronize the timing.
• In order to have the linear interpolation movement, pass moment and arch motion movement
on the cartesian part, it is necessary to match the cartesian part to the standard motion control
(AC servomotor) or to the extension motion (AC servomotor or pulse motor).
• In case of using the coordinate conversion commands in a robot equipped with a wrist unit
including the synchronized axis on the cartesian part, it gets easy to handle the position data
with the coordinate conversion commands by set the synchronizing slave axes to the fourth or
later axes.
Example) X1 - Y - Z - R - X2 - ( B-T)
[ C1 - C2 - C3 - R - B-T ]
Example for
Each Axis Coordinate System
Pn : (C1, C2, C3)
Pn+1 : (R, B, T)
Example for
Cartesian Coordinate System
Pn : (X, Y, Z)
Pn+1 : (Rx, Ry, Rz)
3
rd
Axis (Z)
2
nd
Axis (Y)
1
st
Axis (X1) 5
th
Axis (X2)
4
th
Axis (R)
Wrist Unit (B-T)
(Extension Motion Control)
ME0364-2B