High Precision Control

Overview

The high precision control function is used to improve the precision of motion paths of the robot. The precision of motion paths can be improved particularly in the high-speed arc motion and free curve interpolation control. The high precision control function provides stabilized robot motions in sealing and other work.

Using High Precision Control Function

There are two ways to enable the High precision control function.

• Execute HighPathAccuracy command.
• From the Configuration list of teach pendant, set "215: HighPathAccuracy setting".
  0 : Disable
  1 : Enable

Precautions for Using High Precision Control Function

1. Enable the high precision control function only for the motions whose motion precision should be improved.
2. The motion may be accompanied by vibration depending on the operation conditions and load conditions. In that case, decrease the speed or acceleration or disable this function.
3. If you set "215: HighPathAccuracy setting" with a teach pendant, the setting remain effective after the controller power-off.
4. Extended-joints and MC8 controller are not supported.
   However, this function is available for an extended-joint which works as a conveyor axis. (Available for Version 2.5.* or higher)
   If the high precision control on the robot axis is enabled, enable the high precision control function on the conveyor axis by using HighPathAccuracy command.
5. The high precision control function cannot be enabled while the compliance control function is enabled. An error may occur.
6. The high precision control function cannot be enabled during motions (such as pass motions).
7. Specify exact load conditions such as mass of payload and payload center of gravity. Otherwise, the precision will not be improved.
8. Since the current through the motor increases, an overload error may occur. In this case, decrease the speed and/or acceleration/deceleration, or disable this function.