3.2. ENDLESS

ENDLESS {axis name} = {number of rotation}

(1) Select the name of axis that set as the ENDLESS rotation axis as axis name. R1, T1~T16

(2) Number of rotation is set as the number of rotation for 1 rotation of corresponding axis (-10000~10000 rotation)

Number of rotation’s set range changes according to the deceleration ratio of axis. Generally, for R1 axis, 1000 rotation settings are fine. However if above it has set, an ‘E0173 ENDLESS Rotation number overflow’ error may occur from ENDLESS command, when the program is executed. In this case, number should be reduced as it exceeded the range of rotation number for one rotation.

(3) If RESET, or ZERO is set without axis name setting, number of rotation will not be set.

(4) ENDLESS RESET is a command that maintains the physical position, and convert it within -180~180deg.

Example of program)

S1 MOVE L,S=60%,A=1,T=0

S2 MOVE P,S=50%,A=1,T=0

ENDLESS RESET → Move all ENDLESS axis to S2, and RESET

→ If the step position of ENDLESS R1 axis of S2 is 750deg

→ Convert it to 30deg

(5) ENDLESS ZERO sets the current position to 0deg with disregarding the previously set physical position.

Example of program)

S1 MOVE L,S=60%,A=1,T=0

S2 MOVE P,S=50%,A=1,T=0

ENDLESS ZERO → Move all ENDLESS axis to S2, and ZEROING

→Regardless of the step position of ENDLESS R1 axis of S2

→ Set it to 0deg.

(6) Command input can be done from manual mode, and select『[F6』: Cmd input』à 『[F1]: Motion, I/O』 → 『PREV/NEXT』Key → 『[F1]: ENDLESS』while window is focused to Robot program

3.2. ENDLESS​

3.2. ENDLESS