Chapter 4 Configuring the Joint Parameters
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■ Motion commands requiring an arm group
The following commands require an arm group.
If a task holding no arm group attempts to execute any of the following motion
commands, an error will occur. Before execution of those commands, get an arm
group by using the TAKEARM command.
Commands
HOME, TOOL, WORK, APPROACH, DEPART, DRAW, GOHOME,
MOVE, ROTATEH, ROTATE, CHANGETOOL, CHANGEWORK,
DRIVE, DRIVEA, SPEED, JSPEED, ACCEL, JACCEL,
DECEL, JDECEL, INTERRU
T, LETENV, POSCLR, Motion
optimization library, Arm motion library
■ Defining a new configuration of an arm group
To drive both J5 and J6 in an extended-joint motion
Usually arm groups are configured by default as shown on the previous page; that is,
Arm Group 1 contains J5, and Arm Group 2, J6.
Making a single program to hold more than one arm group (Arm Groups 1 and 2) will
result in an error as shown below.
Example: PROGRAM PRO2
TAKEARM 1
.
.
TAKEARM 2 'Impossible to get Arm Group 2
'after getting Arm Group 1
'Resulting in an error
To drive both J5 and J6 in a single task in an extended-joint motion, you need to
define a new configuration of an arm group (e.g. Arm Group 3) to contain both joints
using the procedure given on the next page. Then make the task get the newly
configured arm group as shown below.
Such configuration allows only the PTP motion with DRIVE and DRIVEA commands.
Example: PROGRAM PRO1
TAKEARM 3 'When changing the configuration of Arm
. 'Group 3 to contain J5 and J6
.
.
DRIVE (5,20.5),(6,150.33) 'Drive J5 and J6 concurrently
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