5 Robot mechanism temperature compensation function
Precautions 5-79
5.2 Precautions
Describe points to be aware of when using robot mechanism temperature compensation function.
5.2.1 Please enable this function from the beginning
During automatic operation by the robot program, compensation is performed with the position data
registered in the program as the reference position.
When using this function, it is necessary to register the position data that considered temperature
compensation, so please enable this function before teaching position.
When this function is enabled after position teaching is performed with this function invalid
state, or when this function is invalidated after position teaching is performed with this
function enable state, there is a possibility that the position will be shifted.
It is possible to confirm the state of this function by a variable M_SmartPlus(2).
(For details on variable, refer to "3.3.Robot language specification".)
5.2.2 Accuracy is not obtained near the singular point and the vicinity of the motion
range
In the vicinity of the singular point, since the robot may operate greatly with slight position correction, the
robot mechanism temperature compensation function is automatically invalidated. (For details on singularities,
refer to "separate volume: instruction manual / detailed explanation of functions and operations".)
Also, even when the position after temperature compensation is out of the range of motion of the robot, the
robot mechanism temperature compensation function is automatically invalidated.
In work requiring precision, we recommend avoiding singular points and the vicinity of the operating range.
In order to suppress the sudden change of the command position due to automatically invalidation of the
robot mechanism temperature compensation function, the range where the temperature compensation is
restricted is set near the singular point and the outside of the operation range.
This limit range can be adjusted with the parameter "MTCSNGL1" (invalid range), "MTCSNGL2" (limit
range).
If the robot vibrates due to a sudden change in the command position when passing through the singular
point, it can be improved by widening the limit range.
When the limit range is narrow or the range between the invalid range and the restricted
range is narrow, the command position abruptly changes near the singular point or the
operation range, an error H115n (servo amplifier communication data command value
error) or an error H091n (servo amplifier overspeed) occurs, and an error stop may occur.
(n is the axis Number)
Temperature compensation limit
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