ST_SetZBalance
(Statement)
[Version 1.9 or later]
Sets the gravity compensation value of the Z and T axes (exclusively designed for 4-axis robots).
ST_SetZBalance
The Z and T axes of a 4-axis robot without air balance mechanism undergo a downward static load (gravity torque) and, when the controller power is turned ON, the initial gravity offset value is set. If you set the limit value less than the gravity torque when setting the current limit, then the Z axis will move down or up, and the T axis will rotate. (Only for a 4-axis robot) This function estimates the gravity torque when the robot is halted, and sets the gravity compensation value. This function prevents the Z-axis downward or upward movement and T-axis rotation that will occur when a small value is set to the current limit value.
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Execute this command in a TAKEARMed task that has obtained arm semaphore. If this command is executed without arm semaphore obtained, Error "21F7 Cannot take arm semaphore" will result.
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This command should be executed when the motor power is on and the robot is on halt. If it is executed when the motor power is off, Error "6006 Motor power is off" will result. If it is executed when the robot is in motion, Error "600B Robot is running" will result. It is recommended you specify @E for the path start displacement of the last operation command (Error "600B Robot is running" may result even with @0).
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If the work weight changes after execution of this command, the preset gravity compensation value will deviate. You need to execute this command again.
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ST_SetZBalance
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