1.3. Precautions for use

1.3. Precautions for use

 

l For the same softness, the spring strength of each axis will grow as the robot size gets larger.

This is because the link weight will get larger and the friction force will grow as the robot size gets larger.

Increase in the spring strength means that more force is needed to push at the same angle.

 

l Before using this function, it is necessary to input the tool information through load estimation.

 

l  [AXIS.Softness = 0] equals the function being off and [AXIS.Softness = 100] means showing the highest sensitivity to the external force.

 

l  Depending on the level of softness and whether external force exists, individual axes may not move to the instructed position while the SoftJoint function is turned on. While there is a position error between the final command and the current position, if the function is turned off, control will be initiated for the relevant axis revert to the final instructed position. In this case, be careful about the possibility of the robot hitting an external area. To prevent such problems, it is necessary to use P* (current value) and the Move command to update the current angle that resulted from being pushed because of external force or gravity.

 

l In the following cases, be careful about the possibility of the axis dropping when the SoftJoint is turned on.

-   When the tool information has been inputted incorrectly: While the actual tool is 100 kg, it is inputted as 0 kg.

-   When AXIS.Softness has been inputted as too large:

Example: When AXIS.Softness=80 is inputted, AXIS.Softness=70 or a lower value is required to prevent the axis from dropping.