6 Coordinated control for additional axes
Base coordinate cooperative control 6-89
6.2.3 Specification
(1) Basic specification
Basic function is below.
Table 6-4 Basic specification of base coordinate corporative control.
Vertical Multiple-joint roobts, Horizontal multiple-joint robots
State variable
Setting of base coordinate cooperative
controlof spline interporation.
Definition of base coordinate
If the function is valid, set base coordinate by the parameter described in
"Attachment of base coordinate".
If the function is invalid, set base coordinate by the conventional base data.
of base
coordinate
mechanisms
It is possible to attach base coordinate to robot additional axis
(7 axis or 8 axis)
* Only direct-acting axis is usable. (Rotation axis is not allowed)
Set the attach axis by using parameter of BSSYNC.
Set the attach position and posture by using parameter of BSCALIB.
You can move only base coordinate of robot (mechanism 1).
You can move base coordinate by jog operation, joint interpolation, linear
interpolation, circular interpolation, spline interpolation.
additional axis
Synchronous movement mode
（
Initial state at power on
）
The additional axis moves from the start point to the end point of
interpolation.
*
Additional axis don’t move in the case of circular interpolation or spline
interpolation.
Relative movement mode
Assign one of the X / Y / Z axi
s motion in spline interpolation to the
additional axis. The relative movement amount from the start point in the
specified axis direction is operated by the additional axis and after that, the
robot moves to compensate for the remaining amount of movement.
* If two additional axes exist, additional axis which is not used for
cooperation will not operate.
Execute moving area check of teaching position.
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