Restrictions

Hardware Restrictions

• If you boot up the controller in the state of being enabled at the "SlaveMotion setting enabled", please install a dummy connector (pendantless). If a teach pendant or mini pendant is being connected, an error will occur at that time of booting up the controller, and the controller cannot control as SlaveMotion as a result.
• To monitor the internal state can be used with Object dictionary or Monitoring function of WINCAPSIII. Online connection (debugging) is impossible.
• The state of set enabled at the "SlaveMotion setting enabled" does not allow RemoteTP to connect to the robot controller.

Software Restrictions

SlaveMotion creates a robot trajectory with external devices and its robot controller performs as Slave. There are the restrictions on the function of creating a trajectory.

Functions that are Unable to Use

• All the program functions (PacScript etc.)
• All the functions on I/O extension boards
• Robot control functions except High precision control function
• Function extension except EtherCAT Slave Motion
• Distribute Clock is unsupported.

Funcitons Partially Restricted

• Speed monitoring of Safety motion (RSM, SOS)
  When RSM1,2,3 and SS2 inputs are done, speed monitoring (RSM, SOS) is performed. Deceleration processing (the processing to reduce the speed up to the threshold of RSM1,2,3 or SS2) is not performed.
  User shall execute the deceleration processing with external devices.

Other Considerations

• Motion limit detection for each axis' angles on the robot controller side is not performed. Check before sending the data to the robot controller where the external devices perform to create a trajectory.
• The operation range of the angles of motors for individual axes is limited as more than -30000 degree and less than +30000 degree. If the operation range is out of that limit, an error occurs.
  In that case, disable the function of EtherCAT Slave Motion and move the motors for individual axes within the limits of operating angles.