Gravity Compensation Function

Overview

This function compensates the each axis’ gravity torque that is calculated based on the gravity on the payload of the tool end and robot arm. With this function, positional displacement can be reduced at the motor ON/OFF timing or under the use of Current limiting function.

Usage

This function is enabled when [11 Efficiency of gravity effect] on the Configuration List is set to "1" (ON) by the Remote TP/Virtual TP. To disable the function, select "0"(OFF).

For detailed information about displaying and setting the configuration, refer to Displaying and Setting the Configuration of the TP App Operation Guide.

You can also enable/disable the gravity compensation function by using a PAC command "GrvCtrl".

Precautions for Use

• Be sure to set the mass of payload precisely, otherwise this function cannot work correctly.