7.2. Axis Angle Attribute

7.2. Axis Angle Attribute

 

Encoder value or axis angle value is not saved when encoder-type step data are uploaded to the location of ROBCAD, and these values are saved after being converted into location/direction values.  Therefore, the position of the robot at the time of simulating the uploaded program may differ from the position of the robot in actual movement. (This applies in the event that the location and direction of TCP are the same, but the position of the robot is different.)

To prevent this problem, axis angle of encoder type step data will be saved as a location attribute with the following name when uploading.

 

n HR_J_DEGS: Axis angle of basic 6-axis (degree)

 

n HR_EXT_J_DEGS: Axis location or angle of additional axis (mm or degree)

 

When executing a simulation for a location with an axis angle attribute, the simulation will be done in that axis angle.

 

Similarly, if downloading, a hidden pose encoder value of step will be created for a location with an axis angle attribute by referring that axis angle.

 

Be aware that even if location or direction of location is changed using methods such as shift, it will not be reflected to the axis angle attribute.

 

Click [Delete attr] button of the teach pendant, select “Hr_joint_val” and select locations or path (Deleting attribute of all locations inside of the path) for removing the axis angle attribute.