5-522 Multi-rotational restrictions for the pallet definition instruction
5Functions set with parameters
5.23 Multi-rotational restrictions for the pallet definition instruction
When the pallet definition instruction: DEFPLT is used for the robot types in which the J1 axis or the J4 axis
can exceed +/-180 degrees (RV-2F, etc.), the palette that the joint angle of the J1 axis or the J4 axis strad-
dles +/-180 degrees cannot be specified. If a position that straddles multiple rotations is specified, an error
will be generated when the pallet definition instruction is executed. Change the parameter to execute the
instruction.
Table 5-27:Related parameters
In addition to the hand end axis (J6 axis for RV models and J4 axis for RH models), the J1 pivot shaft and
the J4 forearm twist axis of RV models can make multiple rotations exceeding +/-180 degrees.
These axes cannot rotate straddling multiple rotations with the pallet definition instruction. If a multi-rotation
flag specifies a different position using the pallet definition instruction to move the robot, the J1 axis rotates
in an opposite direction for joint interpolation that specifies the detour. Because the J1 axis may make unex-
pected movements, the following restrictions apply to the pallet definition instruction.
1) When the multi-rotation flag at the start point is different from that at end point A, end point B, or the
diagonal point:
A comparison check is performed for the multi-rotation flag of the multi-rotational axis (the J1 axis
and J4 axis for RV models with six J axes, the J1 axis for RV models with five axes, and RH models)
at each pallet definition point. If at least one multi-rotation flag is different, error L3750 will be gener-
ated when the pallet definition instruction is executed, resulting in operation being stopped. A com-
parison check is performed for both the normal pallet and the arc pallet.
2) When a joint angle is greatly different even if the multi-rotation flag from "1)" matches:
Each point of the pallet definition is compared with the start point for the joint coordinate position of
the multi-rotational axis (the J1 axis and J4 axis for RV models with six J axes, the J1 axis for RV
models with five axes, and RH models). If a joint angle is different by +/-180 degrees or more, error
L3760 will be generated when the pallet definition instruction is executed, resulting in operation being
stopped. A comparison check is performed for both the normal pallet and the arc pallet.
A multi-rotation check is performed for robot axes (J1 pivot shaft and J4 forearm twist axis of RV models),
and not performed for multiple rotations of additional axes and user-defined mechanism.
Parameter
Parameter
name
No. of arrays
No. of characters
Details explanation Factory setting
Pallet specification PLTSPEC Integer 1
Enables the error check for multi-rotational positions at
each point of a specified pallet.
0: Error check for multi-rotational position disabled
1: Error check for multi-rotational position enabled
When 1 (Error check for multi-rotational position
enabled) is set, if a position that straddles multi-
rotational positions or a position to which the J1 axis or
the J4 axis makes a large rotation is specified for the
robot types, such as RV-2F, in which the joint angle of
the J1 axis or the J4 axis makes multiple rotations
exceeding +/-180 degrees, an error will be generated
when the pallet definition command is executed.
When 0 (Error check for multi-rotational position
disabled) is set, no error will be generated. However, it
is necessary to create a program that takes into
account multiple rotations for specifying a shortcut
operation (TYPE) with the movement command and
the multi-rotation flag (FL2). Incorrect specification may
rotate the joint axis 360 degrees, interfering with
peripheral devices. Be sure to confirm operation for all
points on the pallet at a low speed.
1: RV-F series
0: Other models
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