Denso RC5 Specifikace stáhnout pdf (Strana 109)

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Chapter 3 Robot Motion

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(SetCompControl = SerGrvOffset + SetCompFControl)

While your robot is stationary without contacts (interference) with external

objects, execute

CALL SetGrvOffset

Move your robot in contact (interference) with external objects

CALL CompFControl

(1) Library Execution Procedure

■ When Compliance Control Enabled

1) Use the pendant to set the enabling/disabling gravity offset setting to 1

in the configuration.

2) Add the following statement to your initialization program

CALL SetGravity

3) Enable the compliance control. Provide (statement) when necessary.

CALL SetFrcCoord(n) ‘Set the force limiting coordinate system to n

CALL SetFrcLimit(fx, fy, fz, mx, my, mz)

‘Set the rate of force limiting to (fx, fy, fz, mx, my, mz) [%]

(CALL SetCompRate(cx, cy, cz, crx, cry, crz))

‘Set the rate of compliance to (cx, cy, cz, crx, cry, crz) [%]

(CALL SetDumpRate (dx, dy, dz, drx, dry, drz))

‘Set the rate of damping to (dx, dy, dz, drx, dry, drz) [%]

CALL SetCompControl ‘Enable the compliance control

(CALL SetCompEralw (ex, ey, ez, erx, ery, erz))

‘Set the allowable position deviation to (ex, ey, ez) (mm), and set

the allowable posture deviation to (erx, ery, erz) (degree).

(CALL SetEralw (n1, m1))

‘Set the allowable deviation for n1 axis to m1 (degree)

■ When Compliance Control Disabled. Provide (statement) when necessary.

CALL ResetCompControl ‘Disable compliance control

CALL ResetCompEralw ‘Initialize position deviation

(Call ResetEralw(0)) ‘Initialize angle deviation

3.5.3.3 How to Use Special Tip Compliance Control Function Library

You can use the special compliance control function library to make better use

of the compliance control function. However, since this function directly

change the robot control data, your robot may present an abnormal action

depending on values you will specify. Set the allowable deviation to small

values for adjusting. You can specify the following parameters for the special

compliance control function library.

(1) Force Assistance under Compliance Control

Applying a force assistance in the direction of aligning will facilitate the

profiling motion when your robot cannot profile due to friction or the like.

You can use the compliance control function library (SetFrsAssis) to

specify assistance values in individual directions. The initial values are 0

after turned on.

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