3.2. Operation area
3.2. Operation area
This shows the operation area of individual axes for the load estimation motion. 『Axial angle』 presents the information of individual axes of a robot. 『Start pose』 displays the information of initial pose from which load estimation will start. The 『min』 and 『max』 items of the 『operation area』 present the minimum and maximum values that are to be used for the load estimation motion. In case of axes B and R1, their minimum and maximum operation areas can be set. The following shows the basic conditions of their operation areas:
[Basic operation area]
Axis B operation area (min) : (60 degrees – Angle for axis H – Angle for axis V)
Axis B operation area (max) : (120 degrees – Angle for axis H – Angle for axis V)
Axis R1 operation area (min) : 0 degree
Axis R1 operation area (max) : 90 degrees
In some specific wrist axis operation area setting conditions, there can be physical properties that cannot be estimated. For such cases, the user needs to enter the physical properties manually.
Figure 3.2 Warning for the conditions in which the center of gravity (Cx, Cy) and the inertia cannot be estimated
The following shows the conditions that are needed for estimating all the physical properties:
[Operation area conditions for estimating all the physical properties]
- Axis B operation area: (40-H-V) ~ (140-H-V)
- Axis B between min. and max. 20 degrees or larger
- Axis R1 between min. and max. 60 degrees or larger