1.2.2. Command statement
1.2.2. Command statement
1) LIMIT
Explanation | A command statement that is used to designate the distance and velocity of the movement of the robot when controlling the robot by reflecting the increment of the position using the SoftXYZ, RHemming, ForceCtrl, or OnLTrack functions | |
Grammar | LIMIT POS,[+X=<+X Distance>],[-X=<-X Distance>],[+Y=<+Y Distance>], [-Y=<-Y Distance>],[+Z=<+Z Distance>],[-Z=<-Z Distance>] LIMIT VEL,[X=<X Velocity>],[Y=<Y Velocity>],[Z=<Z Velocity>], [RX=<RX Velocity>],[RY=<RY Velocity>],[RZ=<RZ Velocity>] LIMIT THR,[S=<S Threshold>],[H=<H Threshold>],[V=<V Threshold>], [R2=<R2 Threshold>],[B=<B Threshold>],[R1=<R1 Threshold>] LIMIT XnR,[X=<X Distance>],[Y=<Y Distance>],[Z=<Z Distance>], [RX=<RX Angle>],[RY=<RY Angle>],[RZ=<RZ Angle>] | |
Parameter | POS | § Impossible to set the angle when it is similar to XnR § Set the maximum distance the robot can move (X, Y, and Z directions) § A value for limiting the amount of the movement that will take place in accordance with the increment command, regardless of the teaching path |
VEL | § Set the maximum velocity of the robot movement (X, Y, Z, Rx, Ry, and Rz directions). § Limiting the velocity of the movement that will take place in accordance with the increment command, regardless of the teaching velocity | |
THR | § Set the threshold of the individual axes of the robot (S, H, V, R2, B, and R1 axes) § For removing unnecessary movement caused by disturbances § As the value gets larger, the sensitivity will decrease. This means that it is required to set the minimum value. | |
XnR | § Possible to set the angle when it is similar to POS § Can set the maximum distance and velocity of the movement of the robot (X, Y, Z, Rx, Ry, and Rz) § A value for limiting the amount of the movement that will take place in accordance with the increment command, regardless of the teaching path § Designated values will be evenly applied for the + and – directions. § The maximum robot operation range will be decided based on the union of POS and XnR. | |
Usage example | LIMIT POS,+Z=300 Set the maximum distance to 300 m in the direction of +Z. LIMIT VEL.Z=40 Set the maximum movement velocity to 40 mm/s in the direction of Z. LIMIT THR,H=10 Set the H axis threshold at 10% of the maximum torque. LIMIT XnR,X=200 Set the maximum distance to -200 mm – 200 mm in the X direction. | |
2) SoftXYZ
Explanation | As one of the sensorless force control functions, this function makes it possible to be pushed based on the Cartesian coordinate for an applied external force. | |
Grammar | SoftXYZ <ON/OFF>,CRD=<REFERENCE COORDINATE SYSTEM>,[<USER COORDINATE SYSTEM NUMBER>] | |
Parameter | ON/OFF | ON: Enable, OFF : Disable |
CRD | § Reference coordinate system for the robot to be pushed (0=base, 1=robot, 2=tool, 3=U, and 4=Un) § If the reference coordinate system is U and UN (=3 and 4), the user coordinate system number needs to be inputted. | |
Usage example | (Example 1) A case of making it possible to be pushed in the X, Y, and RY directions to carry out assembly in the Z direction :Based on the robot coordinate system (CRD=1), carry out setting in a way that makes it possible to be pushed within -50 – +50 mm in the X and Y directions at the maximum velocity of 5 mm/s and within -3 – +3 degrees at the maximum velocity of 3 deg/s.
S1 MOVE P,S=100mm/s,A=1,T=0 DELAY 2 LIMIT XnR,X=50, Y=50,RY=3 LIMIT VEL,X=5,Y=5,RY=3 SoftXYZ ON,CRD=1 ‘Start Function S2 MOVE … SoftXYZ OFF ‘ End Function END
(Example 2) Handling an injection molded body : A case of setting in a way that makes it possible to be pushed, based on the robot coordinate system (CRD=1), to the maximum distance of only 300 mm in the +Y direction at the maximum velocity of 200 m/s Set in a way that makes it possible to be only pushed when a torque of 10% or more of the maximum torque is applied on the S, H, and V axes through the LIMIT THR command.
S1 MOVE P,S=100mm/s,A=1,T=0 DELAY 2 LIMIT POS, +Y=300 LIMIT VEL,Y=200 LIMIT THR,S=10, H=10, V=10 SoftXYZ ON,CRD=1 S2 WAIT … SoftXYZ OFF END
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