6 Coordinated control for additional axes
Additional axis tracking 6-99
(2) Restrictions
Restriction of this function is below.
Table 6-10 Restrictions of additional axis tracking
Mov, Mvs, Mvr, Mvr2, Mvr3, Mvc command is available.
Mva command, Ex-Tcontrol interpolation, Spline/Ex-T spline
interpolation is unavailable.
Optimum acceleration / deceleration
Optimum acceleration / decelerationis unavailable.
* If the
Optimum acceleration / deceleration is effective, robot
moves by a fixed acceleration / deceleration.
other functions
(Tracking using
Cannot be used together. Switch with the parameter "TRMODE".
TRMODE = 1: Conveyor tracking
TRMODE = 2: Additional axis tracking
synchronization
control
Cannot be used together. Additional axis synchronization control
takes precedence.
When power is ON, error L2661 (Cannot be used (axis trk)) is
If you try to change the mounting position of workpiece that is
being tracked with t
he parameter "WKnCALIB" or the state
variable P_WkCalib while additional axis tracking is in effect (after
execution of Trk On command), error L2662 (Cannot be used
(axis trk)) is occurred.
It can be used only for linear movement 1 axis.
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