2-12Functions Related to Movement and Control
2Explanation of functions
2.4 Functions Related to Movement and Control
This controller has the following characteristic functions.
Maintenance
operation
X Parameter read, clock setting/read, operation hour meter read, alarm history read
â—‹
Origin setting, parameter change
Note1) When operating with the T/B "operation panel", operating right depends on the mode of the controller, as
below.
・ "MANUAL"...........It is necessary to press the [TB ENABLE] button.
・ "AUTOMATIC".....Operating right is automatically transferred to T/B on the <operation panel> screen is dis-
played. It is not necessary to press the [TB ENABLE] button of the T/B while have the
operating right of the T/B. (The T/B’s status display lamp [ENABLE] blinks)
Note2) While the <operation panel> screen is displayed on the T/B, operation using the [MONITOR] key is not possi-
ble.
Note3) When one device is being used for editing on-line, editing from other devices is not possible.
Function Explanation Explanation page
Optimum speed control This function prevents over-speed errors as much as possible by limiting
the speed while the robot is tracking a path, if there are postures of the
robot that require the speed to be limited while moving between two
points. However, the speed of the hand tip of the robot will not be con-
stant if this function is enabled.
Page 292, "Spd (Speed)"
Optimum acceleration/
deceleration control
This function automatically determines the optimum acceleration/deceler-
ation time when the robot starts to move or stops, according to the weight
and center of gravity settings of the hand, and the presence of a work-
piece. The cycle time improves normally, although the cycle time
decreases by the condition..
Page 269, "Oadl (Optimal Accelera-
tion)",
Page 249, "Loadset (Load Set)"
XYZ compliance With this function, it is possible to control the robot in a pliable manner
based on feedback data from the servo. This function is particularly effec-
tive for fitting or placing workpieces. Teaching along the robot's orthogo-
nal coordinate system is possible. However, depending on the workpiece
conditions, there are cases where this function may not be used.
Page 186, "Cmp Tool (Compliance
Tool)"
Impact Detection The robot stops immediately if the robot's tool or arm interferes with a
peripheral device, minimizing damage.
This function can be activated during automatic operation as well as dur-
ing jog operation.
Note) Please note that this function cannot be used together with the
multi-mechanism control function.
Page 193, "ColChk (Col Check)"
Refer to "COL" parameter in Page
438, "5 Functions set with parame-
ters".
Interference avoidance
function
This function is used with the CR7xx-Q series controller. The robot is
moved while checking for interference between two or three robots using
direct communication between the robot CPUs.
Robot damage can be reduced by predicting interference between robots
and stopping the movement during jog operation or automatic operation.
When interference is predicted, the robot movement will stop. The robot
can be programmed to generate an alarm or to restore operation.
Refer to Page 523, "5.24 Interfer-
ence avoidance function".
Maintenance Forecast The maintenance forecast function forecasts the robot's battery, belt and
grease maintenance information based on the robot's operating status.
This function makes it possible to check maintenance information using
the optional Personal Computer Support software.
Note) Please note that this function cannot be used together with the
multi-mechanism control function.
Use optional Personal Computer
Support software.
Position Restoration
Support
The position restoration support function calculates the correction values
of OP data, tools and the robot base by only correcting a maximum of
several 10 points if a deviation in the joint axis, motor replacement, hand
deformation or a deviation in the robot base occurs, and corrects position
deviation. This function is implemented by optional Personal Computer
Support software.
Use optional Personal Computer
Support software.
Continuous path con-
trol
This function is used to operate the robot between multiple positions con-
tinuously without acceleration or deceleration. This function is effective to
improvement of the cycle time.
Page 102, "(4) Continuous move-
ment",
Page 190, "Cnt (Continuous)"
Class
Operation
rights
Operation
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