Denso RC5 Specifikace stáhnout pdf (Strana 353)

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101

Chapter 12 Robot Control Statements

12-77

ST_SetCurLmt (Statement) [Ver.1.9 or later]

Function

Sets the limit of motor current to be applied to the specified axis.

Format

ST_SetCurLmt <AxisNumber>, <Value>

Explanation

Limits the value of motor current (torque) to be applied to the axis specified by

to the value specified by

<Value>.

This command is useful when you

want to limit torque that a workpiece will undergo during insertion or butting jobs.

The maximum value of

<Value>

is 100 which refers to the motor rating current.

If any value exceeding the allowable limit for each axis is specified, the value will be

automatically limited to that allowable limit.

Set a value of 1 or above. If 0 or a negative number is set, Error "6003 Excess in

effective value range" will result.

Related Terms

ST_ResetCurLmt, ST_SetGravity, ST_SetGrvOffset, ST_SetEralw

Notes

(1) When the motor current is limited with ST_SetCurLmt, the robot cannot move at

the maximum speed or acceleration. Use ST_SetCurLmt only at steps that need

the current limit. When using ST_SetCurLmt, decrease the acceleration.

(2) If a workpiece bumps against something at high speed even if the driving force

is controlled by limiting the motor current, the impact is considerable due to the

inertia of the workpiece, end-effector and axis. Set the current limit just before

the workpiece comes into contact with the object and reduce the speed.

(3) Set the current limit when the robot is on halt. If it is set during a pass motion, an

error is likely to occur.

(4) Execute this command in a TAKEARMed task that has obtained arm-

semaphore. If this command is executed without arm-semaphore obtained, Error

"21F7 Cannot take arm semaphore" will result.

(5) If the current limit reset value in User Preferences is set to any value other than

"1", "3", "5", or "7", the compensation value will be reset to "0" when you turn on

the motor power.

To make the current limit function effective immediately after switching on the

motor power, set the current limit reset value to "1."

6-axis (6) When setting the current limit, be sure to enable the gravity compensation

function. If the current limit is set when the gravity compensation function is

disabled, Error "665A Cannot set current limit" will result. For the gravity

compensation function, refer to

ST_SetGravity

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