2.1.2. Caution

2.1.2. Caution

 

1)    For the same softness, the spring stiffness will get higher as the size of the robot increases.

This is because the link weight and friction force will get higher as the size of the robot increases.

The increase of the spring stiffness means that more force is needed to push at the same angle.

 

2)    Required to input tool information through load estimation before using this function

 

3)    AXIS.Softness = 0 is equivalent to the function being turned off,

and in case of AXIS.Softness = 100, the sensitivity to the external force will get the highest.

 

4)    Caution in turning off the function (SoftJoint Off)

When the SoftJoint Off is executed, the mode will instantly shift to the position control mode, meaning that updating the final command to the current position must be processed. If not, abnormal operation of abruptly recovering to the final command could take place.

 

Program example)

AXIS5.Softness=90

SoftJoint ON

MOVE P,S=50mm/s,A=0

P1=P*                               ß Must save the current position

MOVE P,P1,S=100%,A=7  ßMust insert the command for movement

                            to the current position before the SoftJoint Off takes place

SoftJoint OFF

 

5)    Take precautions against possible dropping of the axis when SoftJoint On takes place in the following cases. 

- When wrong tool information is inputted:

 (Example) 0 kg is inputted while the actual tool is 100 kg

- Input a very large value for AXIS.Softness:

 (Example) In order to prevent the axis from dropping, the AXIS.Softness should be 70 or lower. However, 80 is inputted for AXIS.Softness.