Modifies the allowable deviation of the specified axis.

ST_SetEralw <AxisNumber>, <Value>

Sets the allowable deviation of the axis specified by <AxisNumber>. Use this command if angle deviation occurs due to external force when the current limit function is enabled.

The <Value> is the arm joint angle and specified in degrees.

"Allowable deviation value" refers to the allowable range of the "Error 611* J* excess error" which will occur for safety if the servo deviation exceeds the specified value.

During assembling operation with the current limit enabled, if servo deviation occurs due to external force, the above error may occur. To avoid this, you may use this command temporarily to increase the allowable deviation value.

This command can also be used to reduce the allowable deviation value for helping quick detection of the downward movement of the robot due to gravity when the current limit function is enabled.

ST_SetCurLmt, ST_ResetEralw

Run this command in a TAKEARMed task which has obtained arm semaphore.

If the command is executed without arm semaphore obtained, Error "21F7 Cannot take arm semaphore" will result.