Deflection Compensation Function

Overview

This function compensates the each axis’ deflection that is caused by the gravity on the payload of the tool end and robot arm. This function compensates the deflection caused by the gravity of arm and minimizes the loss of positional accuracy.

Target Robot Models

This function is available for the following robots.

• 6-axis robot

Usage

This function is enabled when [12 DEFLECTION mode setting] on the Configuration List is set to "1" (ON) by the teach pendant. To disable the function, select "0"(OFF).

• 0：Disable
• 1：Enable (default)  

For detailed information about displaying and setting the configuration, refer to Displaying and Setting the Configuration of the TEACH PENDANT OPERATION GUIDE.

Precautions for Use

• For robots other than mentioned in "Target Robot Model", this function is not enabled even if [12 DEFLECTION mode setting] is enabled.
• Turn OFF this function before the teaching when you do not use this function.
• Turn ON this function before the teaching when you use this function.
• If the ON/OFF state of this function is different between the teaching and the program execution, the coordinate position will change. In this case, you need to perform teaching again.
• Be sure to set the mass of payload precisely, otherwise this function cannot work correctly.