Temperature Drift Offset Function

Overview

Robot arms may be expanded due to heat emission of the motor at times and that may decrease the positional accuracy.

This function compensates deviation caused by the thermal expansion so as to minimize the decrease of positional accuracy.

Target Robot Models

This function is available for the following robots.

• VS-050/060/068/087 series
• HSR series
• HSA1 series

Usage

With the teach pendant, change "136 Temperature Drift Offset" in Configuration List to the following value.

• 0：Disable
• 1：Enable (FIG priority)
• 2：Enable (Angle priority) default (This function is available from Ver.2.11)

For Ver.2.10 or lower, the default is 1: Enable (FIG priority).

For the FIG priority mode, it may move to the different angle depending on the extension of the robot arm. In that case, please change to the angle priority mode. In the angle priority mode, FIG is determined by Automatic Figure Selection Function (Auto Fig)(FIG: -2) so as to be the shortest distance from the reference angle.

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 [136 Temperature Drift Offset] is enabled.
• This function shall be turned OFF before teaching, if you do not use it.
• This function shall be turned ON before teaching, if you use it.
• If the status of this function is not the same at the time of teaching and at program execution, the coordinate deviates. In that case, teaching needs to be done again.
• When this function is enabled, the value of T-type and P-type in the arm window on the teach pendant may change even if the robot stops.
  This is because this function keeps monitoring the arm length expansion or contraction due to temperature change.
• The offset might be failed if it is carried out immediately after the controller startup.