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ID : 2162
Automatic Figure Selection Function (Auto Fig)
Overview
This will select an appropriate Fig value which represents a robot figure, based on the robot position and operation data. To enable this function, enter a following Fig value when you specify a Fig.
| Value of Fig | Description | Conditions |
|---|---|---|
| -2 | Select figure values which achieves the shortest distance automatically. | Fig that meets the following conditions is selected automatically.
|
| -3 | Select available figure values automatically. | Fig that meets the following conditions is selected automatically.
|
When "-1" is specified, a Fig value that was used in the motion immediately before.
- If -2 or -3 is specified, Fig is automatically selected. Be sure to check the robot motion at low speed before starting the actual operation.
- If -2 is specified, a Fig that may generate software limit errors or motion range errors might be selected.
For details about robot figures, refer to "Figures of the Shoulder, Elbow, and Wrist" (6Axis Robots) and "Shoulder Figure" (4Axis Robots) of BASIC KNOWLEDGE OF ROBOTS.
Precaution on CP Motion
When CP motion (linear, arc, or free curve interpolation) is used, in most cases, a robot will fail to move to a position whose figure is different from the current one. Doing so will issue an error.
Therefore, if -2 or -3 is entered in the target position of CP motion command, an unattainable Fig will be selected automatically, resulting in an error. To avoid this error, enter -1 as a target position's Fig.
Operation Procedures
For details about setting operation of Teach Pendant, refer to "Displaying and Setting the Motion Figure (FIG) of Robot".
ID : 2162