1. Introduction

 

This function enables Robot’s R1 axis, or additional axis (JIG axis) to have rotation that exceeds the soft limit. This function can be used for the following three purposes.

 

Firstly, a method that designates the number of ration based on the position of designated step from Robot’s JOB program. By setting the number of rotation at the top of JOB program, and operate it. A JOB program that will rotate the axis for the setting will be completed

 

Secondly, a function that convert the ENDLESS axis of rotation that exceeded ± 180deg to angle of rotation within ± 180deg. For example, an axis that rotated 360deg is physically identical as 0deg. By using this ENDLESS RESET function, the axis can conveniently move back to 0deg without having reserve rotation.

 

Last function sets the axis of ENDLESS rotation to 0deg. This ENDLESS ZERO function is useful when the current position needs to be set to 0deg regardless of the absolute position of the axis of ENDLESS. It is similar to ENDLESS RESET, but it does not maintain the physical axis’s absolute position and change the current position to 0.

 

Function features

 

(1)   Conveniently assign the number of ENDLESS rotation(support exclusive function)

(2)   Supports straight line interpolation when R1 axis does ENDLESS rotation(Tool’s X,Y direction will be internally set to 0)

(3)   Enables a rotation that exceeds the range of soft limit

(4)   Automatic reset function when step reaches, or stops

(5)   Provides exclusive ENDLESS reset function that converts the degree within 1 rotation