Epson RC170 Betriebsanweisung PDF herunterladen (Seite 188)

6. The SPEL+ Language

PTP motion near the singularity

When jogging a robot from a point near the singularity to a point calculated by point

operations such as P1+X(10), the robot may move to unintended direction because the arm

orientation is not properly specified.

For example, when jogging from a point where the wrist is NoFlip to another point

calculated by point operations, if the wrist keeps the NoFlip orientation while jogging,

Joints #4 and #6 may rotate widely (by approx. 180 degrees).

In this case, switch to the Flip wrist orientation to jog smoothly through the wrist

singularity. This phenomenon occurs not only with the point operations but also when

creating points automatically with Pallet command or the result values that run from vision

sequence.

Proper motion

Unintended motion (Joints #4, #6 rotate 180 degrees)

However in the cases like this, it is difficult for users to specify the proper arm orientations

by a program. For this LJM function is a useful command. LJM function switches the arm

orientations to enable the least motion of the joints. For the details of LJM function, refer

to SPEL+ Language Reference manual.

Also, AutoLJM command can automatically apply LJM function to the motion commands

which are included in a particular section of the program without using LJM function.

For details of AutoLJM command, refer to the SPEL+ Language Reference.

In addition, you can set AutoLJM function to be enabled at the controller start up by

setting preferences of the controller. However, if Auto LJM is enabled in preferences, this

function automatically adjusts the posture of the manipulator to reduce the motion distance,

even when you intend to move the joint widely. Therefore, it is recommended to build a

program using AutoLJM command or LJM function to operate the manipulator as you

desired.

If you specify all points by teaching, the arm orientations are also recorded. Therefore, the

manipulator moves to the taught position without using LJM function or AutoLJM.

Instead, the manipulator may move differently from the taught position by the use of LJM

and AutoLJM.

170 EPSON RC+ 5.0 (Ver.5.4) User's Guide Rev.4

1 2 ... 183 184 185 186 187 188 189 190 191 192 193 ... 311 312

Keine Kommentare

Epson RC170 Betriebsanweisung Seite 188