3.18Position resume setting3.18Position resume setting
Position recovery at Servo ONPosition recovery at Servo ON
The posture at the position on the command path when the motor power is turned off is stored in the memory,The posture at the position on the command path when the motor power is turned off is stored in the memory,
and the robot is automatically moved to return to that posture when the motor power is turned back on. Thisand the robot is automatically moved to return to that posture when the motor power is turned back on. This
means that, when restart is initiated, the means that, when restart is initiated, the
same path is drawn as the one same path is drawn as the one
drawn under normal circumstancesdrawn under normal circumstances
function is also called the function is also called the
"Previous position return function.""Previous position return function."
The differences in the position and posture between the time when the motor power is turned off and the timeThe differences in the position and posture between the time when the motor power is turned off and the time
when it is turned back on are defined by the differences in the distance of the tool tip position and angle (robotwhen it is turned back on are defined by the differences in the distance of the tool tip position and angle (robot
wrist posture), and whether to perform the return operation or not is set depending on the extent of thesewrist posture), and whether to perform the return operation or not is set depending on the extent of these
Position Recovery Position Recovery
Recovery LimitRecovery Limit
If both the distance and angle are within the values set here, the automatic returnIf both the distance and angle are within the values set here, the automatic return
operation is performed. If the distance or operation is performed. If the distance or
the angle has exceeded the the angle has exceeded the
value set here,value set here,
an “Information” message appears when the motor power is turned on, and the returnan “Information” message appears when the motor power is turned on, and the return
operation is not performed.operation is not performed.
If the distance has been set tIf the distance has been set t
o 0 mm, the return decision is not o 0 mm, the return decision is not
based on the distance.based on the distance.
If the angle has been set to 0 degrees, the return decision is not based on the angle.If the angle has been set to 0 degrees, the return decision is not based on the angle.
If both the distance and angle have been set to zero, the automatic return functionIf both the distance and angle have been set to zero, the automatic return function
which is performed when the servo is turned on which is performed when the servo is turned on
If the distance or the angle has exceeded the value set here, an error is detectedIf the distance or the angle has exceeded the value set here, an error is detected
when the motor power is turned on, and operation cannot be started until the errorwhen the motor power is turned on, and operation cannot be started until the error
reset operation is performed.reset operation is performed.
After that, the robot cannot restart unAfter that, the robot cannot restart un
til one of the following operations is performtil one of the following operations is perform
N operation in N operation in
and ON of the and ON of the
er supply switcer supply switc
Motion kind at Position ResumeMotion kind at Position Resume
This is used to select either joint interpolation or linear interpolation as theThis is used to select either joint interpolation or linear interpolation as the
interpolation type for the automatic return operation.interpolation type for the automatic return operation.
Resume Speed with JointResume Speed with Joint
InterpolationInterpolation
This is used to specify the speed This is used to specify the speed
for joint interpolation.for joint interpolation.
Resume Speed with LineResume Speed with Line
InterpolationInterpolation
This is used to specify the speed This is used to specify the speed
for linear interpolation.for linear interpolation.
The low safety speed (250 mm/sec.) is the safe speed.The low safety speed (250 mm/sec.) is the safe speed.
(Supplement) The following parameters are not used.(Supplement) The following parameters are not used.
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