HOME
ID : 3373
Precautions
Precautions When Using Vibration Control M for Extended-Joint Tracking
To perform the extended-joint, the Vibration Control M enable/disable status of the master robot or the slave robot must be the same as that of the extended-joint.
If the status of the robot and the extended-joint are different, with a teach pendant, on the Config window, change the value of [217: Vibration Control M] of the master or slave robot. Setting "1" (ON) enables the function. Setting "0" (OFF) disable the function.
| The initial value of the master controller's Vibration Control M | The initial value of the slave controller's Vibration Control M | Status and countermeasure |
|---|---|---|
| Enable | Enable | Good. There is no required operation. |
| Enable | Disable | Not good. Enable the slave robot. If the slave robot cannot be enabled, disable the master robot. |
| Disable | Enable | Not good. Enable the master robot. If the master robot cannot be enabled, disable the slave robot. |
| Disable | Disable | There is no problem if you do not perform any countermeasure. If both the master and slave robots can be enabled, you can set both robots to enable. |
Whether the Vibration control M is available to the robot model you use, and what is the default setting (enable or disable), refer to "Vibration Control M" in the FUNCTION GUIDE.
Precautions When Replacing from HS Series Robots to HSA1 Series Robots
This section describes precautions when replacing HS series robots (including a robot controller) with HSA1 series robots, for equipment performing the conveyor tracking (excluding the extended-joint) by using HS series robots.
If you replace robots, you can make robots do the same operation by reusing the original teaching data and robot programs to robots to be replaced.
However, a slight difference of the motion path (hereafter path difference) may occur by machine difference.
When replacing HS series robots with HSA1 series robots, path difference may be larger compared with a case of replacing with HS series robots.
For HSA1 series robots, a function to reduce the vibration of a robot during operation (Vibration Control M) is newly added. Therefore, the vibration is reduced and the precision is improved compared with HS series robots. However, this may make path difference larger than HS series robots.
The possibility that path difference is larger will increase when performing the conveyor tracking (excluding the extended-joint tracking) or the circular tracking.
For HSA1 series robots, the default setting of Vibration Control M is “Enable”, but you can set to “Disable”.
If path difference is large, please set Vibration Control M to “Disable”.
For the setting procedure of Vibration Control M, please refer to “Vibration Control M” in FUNCTIION GUIDE.
ID : 3373