8Perform Sequencer Direct
How to Operate Sequencer Direct 2-78
(7) Auxiliary operation specification
Specify the hand posture control type during linear inter-
polation.
a) Equivalent rotation: Evenly interpolates from start pos-
ture (A, B, C) to the posture (A, B,
C) at aimed position.
b) Orthogonal triaxis: Interpolates with joint angle (J4,
J5, J6) instead of hand posture (A,
B, C). Evenly interpolates from
start posture (J4, J5, J6) to the
posture (J4, J5, J6) at aimed posi-
tion.
Effective when passing by near a
singularity.
c) Singularity pass: Specification to pass by a singular-
ity specific to six axes robot (sin-
gularity posture is posture B
shown in the right figure (2)).
Restricted by some positions and
postures.
For more information on the oper-
ation, refer to "Instruction Manual,
Detailed Description of Functions
and Operations".
(8) Tool data setting
Select the tool data (1 - 4) set up by parameters in advance.
The tool data indicates the end (grip point) of hand and is specified by shift amount from the center of
robot flange and rotation angle.
Singularity of vertical 6-axis robot
1) Posture A
2) Posture B
Flag switch
posture
3) Posture C
Center of flange
Zm
Ym
Xm
Zt
Yt
Xt
Tool data
Mechanical interface coordinate system
Tool coordinate system
Tool position
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