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D : indicates that the compensation algorithm has been temporarily disabled (e.g. through
Set Arm Nostroke).
·
The values of the joints and of the Cartesian position shown on the display are the NOMINAL (ideal) val
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ues only with the robot stationary (interlocked on the final point). What the display shows during the exe
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cution of a movement refers to the kinematic compensation world.
·
The variables learnt through the teach pendant (program edit environment) are of the NOMINAL type.
·
The value obtained through the built-in features PDL2 ARM_PS and ARM_JNTP represents the position
of the NOMINAL robot only when the robot is stationary (interlocked on the final point).
·
The value obtained through the built-in features PDL2 Hdinpos represents the position of the NOMINAL
robot.
·
For correct robot programming, with active compensation, the system variable value $CNFG_CARE
should be kept at TRUE.
·
As the wrist fitted on the H4 robot is not round, when compensation is applied, near the wrist singularity
after an instruction of the type: Move to {0, 25, -75, 0, 12, 0} the Joint Display shows: 0, 25, -75, 2, 12,
-2; this position of the joint corresponds correctly with the Cartesian position reached by the robot.
The approximation in the wrist axes (4 and 6) is due to the need to use inverse kinematic compensation
on the final point reached.
For further information regarding kinematic compensation please refer to the C3G Plus Pro
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gramming Rules and Notes about Working Area manual.
MAIN OPERATIONS FOR SYSTEM USE C3G Plus
5-20 06/0400
kinematic compensation algorithm
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