Denso RC5 Specifikace stáhnout pdf (Strana 360)

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ST_SetCompControl (Statement) [Ver.1.9 or later]

Function

Enables the compliance function (exclusively designed for 6-axis robots)

Format

ST_SetCompControl

Explanation

Enables the compliance function. Enables the compliance conditions set by

ST_SetFrcLimit

ST_SetCompRate

, and

ST_SetFrcCoord

Related Terms

ST_SetFrcLimit, ST_SetCompRate, ST_SetFrcCoord, ST_ResetCompControl,

ST_SetCompFControl

Notes

(1) You will receive an error "60F5 Compliance control is not executable", when this

statement is executed while the gravity offset is disabled and the current limiting

is enabled. Execute again after you enable the gravity offset and disable the

current limiting. See

ST_ResetCurLmt

and

ST_SetGravity

for disabling the

current limiting and enabling the gravity offset respectively.

(2) The compliance control will not be enabled while motors are off. The compliance

control will be disabled when you turned off motors under the compliance

control.

(3) Execute this command in a TAKEARMed task has obtained arm semaphore. If

this command is executed without arm semaphore obtained, an error "21F7

Cannot take arm semaphore" will result.

(4) Execute this command when your robot is on halt. Executing this command in a

pass motion will cause an end motion. If executing this command in a pass

motion causes an error "600B Robot is running," then stop the robot with a

Delay command and then execute this command.

(5) If the robot is moved by any external force under compliance control, an error

"611* J* excess error" may occur. In such a case, change the allowable

deviation by using the

ST_SetEralw

(6) This command should not be executed when the robot undergoes any force,

e.g., in contact with any surrounding facility. To enable the compliance control in

such conditions, use the

ST_SetCompFControl

(7) If the robot posture greatly changes after execution of the ST_SetCompControl,

then an error may be generated in the gravity offset compensation value and the

robot may move in the direction of gravity. If the posture changes greatly under

compliance control, use the

ST_ResetCompControl

to disable the compliance

control and then execute the

ST_SetCompControl

again to enable the

compliance control.

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