2.1. ServoFree Program Structure

2.1. ServoFree Program Structure

 

To use the ServoFree function, first, set up the maximum sliding distance and the maximum sliding rate. Next, input a normal coordinate system and a sliding direction. After the ServoFree function has been activated, send the signal to start the job to the device that applies an external force, and wait to receive the signal to terminate the job. Lastly, inactivate the ServoFree function after all the sliding operations have ended.

 

Division	Description	Examples of Programs
Set up Conditions and Start Functions	Set up the maximum sliding distance and the rate, normal coordinate system, sliding direction, gain, etc. and start the ServoFree function.	LIMIT POS,+Y=500 LIMIT VEL,Y=300 ServoFree ON, CRD=1, ……
Sliding Section	It is the section where the ServoFree function is inactivated, and in practice, the robot tool slides. Direct the command of pushing the robot through the devices such as an injection molding machine that apply external forces and DIO communications, or receive the signals such as endtask.	DO10=1 WAIT DI10
Function ends	Terminate the ServoFree function.	ServoFree OFF