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.

Target Robot Models

This function is available for the following robots.

• 6-axis robot

Usage

This function is enabled when [11 Efficiency of gravity effect] on the Configuration List is set to "1" (ON) by the teach pendant. 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 TEACH PENDANT OPERATION GUIDE.

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

Precautions for Use

• For robots other than mentioned in "Target Robot Model", this function is not enabled even if [11 Efficiency of gravity effect] is enabled.
• For robots that are not the target of gravity compensation function, gravity compensation will not work even if GrvCtrl is enabled.
• Be sure to set the mass of payload precisely, otherwise this function cannot work correctly.