ST_SetGrvOffset
(Statement)
[Version 1.9 or later]
Compensates the torque of each joint programmed with ST_SetGravity for gravity torque.
ST_SetGrvOffset
Each joint of the robot undergoes downward static load (gravity torque) due to earth gravity. Although gravity compensation command ST_SetGravity allows you to adjust the balance between the limited torque and gravity torque, the balance may be off-balance due to the difference between the mass of payload you set and the actual one.
This offset function presumes the gravity torque when the robot is on halt and calculates the gravity offset 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 robot attitude is greatly changed after execution of this command, execute this command again.
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If the current limit reset value in User Preferences is set to any value other than "1", "3", "5", or "7", the compensation value will be reset to "0" when you turn on the motor power.
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ST_SetGrvOffset
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