Iai-america XSEL-KX Bedienungsanleitung PDF herunterladen (Seite 251)

235

Part 4 Commands

(3) Notes on CP operation

The singular point refers to a position where arms 1 and 2 form a straight line.

Performing CP operation along a path near the singular point may reduce locus accuracy, cause

vibration (noise) or generate errors. The errors that may occur include the following:

"D09: Driver overspeed error," "B91: Main overspeed error," "C64: Invalid servo

acceleration/deceleration error," "B74: CP-operation restriction zone entry error," and "C6B:

Deviation overflow error"

These problems may be prevented by lowering the speed or acceleration/deceleration.

The CP-operation restriction zone is defined

as the area between the singular point locus

and the locus of the value set in all-axis

parameter No. 50. CP operation is prohibited

inside this area. (In the figure shown at left, the

area between the solid line and dotted line is

the CP-operation restriction zone.)

The controller will generate an error upon

detecting that the target locus used in locus

calculation or the actual movement locus has

entered the CP-operation restriction zone. If

the target movement locus has entered the

CP-operation restriction zone during locus

calculation, a "B7C: Error due to target locus

inside CP-operation restriction zone

(PTP/jogging of each axis enabled)" will

generate.

When the actual movement locus has entered the CP-operation restriction zone, a "B74: CP-

operation restriction zone entry error (PTP/jogging of each axis enabled)" or "C74: Actual-position

soft limit over error" will generate.

The width of the CP-operation restriction zone (distance between the solid line and dotted line) will

vary depending on the robot arm length. (If the arm length is 500/600, the restriction zone will

become approx. 0.5 mm wide (All-axis parameter No. 50: Width of CP-operation restriction zone

near arm 1/2 straight-line point)).

Avoid creating a program that will cause the axes to pass the CP-operation restriction zone during

CP operation.

Once inside, the axes cannot be pulled out of the CP-operation restriction zone via CP operation.

Move the axes via PTP operation. Exercise caution when the arm condition is not recognized at the

start of program, etc.

As for CP operation, always perform test operation at low speed and confirm absence of problem

beforehand. Then, gradually raise the speed to an appropriate level.

All-axis parameter

No. 50

CP-operation

restriction zone

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