5 Robot mechanism temperature compensation function
Parameter setting 5-81
etails explanation
mechanism
temperature
compensation
Invalid range
value 4
In the vicinity of the singular point and in
the vicinity of the movement range, specify
the range in which the robot mechanism
temperature compensation function is to
be invalidated.
<Vertical articulated (6-axis) robot>
1st element : Near the structure flag
(RIGHT / LEFT)
It is specified by the distance on the XY
plane from the singular point.
Unit : [mm] * 0 is on a singular point
2nd element : Near the structure flag
(ABOVE / BELOW)
It is specified by the J3 axis angle from
the singular point.
Unit : [deg] * 0 is on a singular point
3rd element : Near the structure flag
(NONFLIP/FLIP)
It is specified by the J5 axis angle from
the singular point.
Unit : [deg] * 0 is on a singular point
4th element : Near the operating range
It is specified by the distance from the
movement
position farthest from the movement range
is 0 [%] and the movement range
boundary is 100 [%].
Unit : [%] * 0 is the operating range
boundary
<Horizontal articulated (4-axis) robot>
1st element : Near the structure flag
(RIGHT / LEFT)
It is specified by the J2 axis angle from
the singular point.
Unit : [mm] * 0 is on a singular point
2nd element : Insignificant
3rd element : Insignificant
4th element : Near the movement range
It is specified by the distance fr
movement
position farthest from the movement range
is 0 [%] and the movement range
boundary is 100 [%].
Unit : [%] * 0 is the operating range
(6-axis) robot
= (0, 5, 5, 0)
Horizontal
articulated (4-axis)
robot
= (5, 0, 0, 0)
mechanism
temperature
compensation
Limit range
value 4
In the vicinity of the singular point and the
vicinity of the motion range, specify the
range to limit the compensation amount of
the robot mechanism temperature
compensation function.
The position of each element is the same
as the parameter "MTCSNGL1".
(6-axis) robot
= (100, 15, 15, 1)
Horizontal
articulated (4-axis)
robot
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