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ID : 5526
Boundless Rotation of Robot Axis
Overview
The motion range of the 6th-axis on the 6-axis robots is limited by the software limit, like other axes. If the boundless rotation function on the robot axes is enabled, the software limit is released, that can keep a 6th-axis rotating in the same direction without issuing error.
This function is practical especially for the scrubbing and other applications. This function is available in Ver.1.6.* or higher.
Target Robot Models
This function is available for the following robots (except for the Communication Interface Flange-A type).
| Robot | Axis |
|---|---|
| VS-050/060/068/087 series | 6th-axis |
Usage
With the teach pendant, in the Path parameter window, set [149:Boundless Rotation(J6)] to "1" or "2".
| Value | Description | Note |
|---|---|---|
| 0 | Disable | Default value |
| 1 | Enable | - |
| 2 | Enable | Automatically adjust the current angle of the 6th-axis to within the range of plus or minus 360 degree when the robot stops. |
For the setting procedure of the Configuration List, refer to "Setting Robot Installation Condition" in the TEACH PENDANT OPERATION GUIDE.
If the force sensor-based force control function is activated, even setting the value to 2 will not enable the function that automatically changes the angle to within ± 360 (deg) when the robot stops.
Maximum Angle and Posclr
The rotation stops when the 6th-axis reaches the maximum angle. Execute Posclr before the 6th-axis reaches the maximum angle.
Posclr changes the current angle as shown below, depending on the mode. For details, see Posclr in the PROGRAMMER'S MANUAL.
| Mode | Description |
|---|---|
| 0 | Robot axes are not available. |
| 1 | Set the current angle within plus or minus 360 degree. |
| 2 | Set the current angle within plus or minus 180 degree. |
| 3 | Add the specified angle to the current angle (degree). The calculation value is automatically converted to a multiple of 360 degree. |
The table below shows examples of Mode 3.
| Example | Result |
|---|---|
|
Add 0 degree to the current angle of the 6th-axis |
|
Add 360 degree to the current angle of the 6th-axis |
|
Add 360 degree to the current angle of the 6th-axis |
|
Add 0 degree to the current angle of the 6th-axis |
|
Add -360 degree to the current angle of the 6th-axis |
Attention
- If you rotate an axis when the Boundless rotation (J6) setting is "2", or if you run Posclr command, the CALSET value is overwritten.
After the CALSET value is overwritten, do not send a project that has been made a backup by WINCAPSIII to the controller. Doing so, the CALSET value will be reset to the value where the backup has been made. As a result, the angle may be changed from that of before the project sending. - In normal operation at MODE 1 of Posclr or when [Boundless rotation for Robot (J6)] is set to [2:Enable], if the angle of the current position is the multiple of +360 degrees, Posclr will reset the axis to 0 degrees. However, it may set to +360 degrees due to the internal calculation error.
Also, the multiple of -360 degrees may set to -360 degrees.
Therefore, the motion command that has been written in immediately after Posclr may perform unexpected behavior. - Also, in normal operation at MODE 2 of Posclr, if the current position is +180 degrees (the multiple of +360 degrees), Posclr will reset the axis to +180 degrees, but it may set to -180 degrees at times.
- If the CP motion is carried out while the rotation angle of either the current position or the target position is the 6th-axis figure Triple (360 degrees <θ6 orθ6≤-360 degrees), a Command speed limit over error might be issued.
To avoid this error, execute PosClr before the command execution or operate with PTP motion.
ID : 5526