SetHighPathAccuracy
(Library)
[Ver. 2.61 or later]
Enable (or disable) the high-accuracy path control that improves the accuracy of the robot motion path in CP motions (linear, arc, and free-curve).
SetHighPathAccuracy
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This function improves the accuracy of the robot motion path.
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This function becomes enabled for a motion command immediately following SetHighPathAccuracy and canceled with ResetHighPathAccuracy.
Requires a <pacman.h> file.
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This control should be enabled only for motions requiring high-accuracy path.
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Depending on motions or load conditions, some robot motions involve vibration. If it happens, lower the speed or acceleration or disable this control.
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Turning the controller or motor power OFF disables this control.
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This control does not apply to the extended joints (7th- and 8th-axis).
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This control cannot be enabled when the compliance control is enabled. Trying to do so causes an error.
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This control cannot be enabled when a motion such as a pass motion is in progress.
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The master control parameters (e.g., mass of payload and payload center of gravity) should be accurately specified. Failure to do so may hinder this control.
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PROGRAM PRO1
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TAKEARM
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'Obtain the control priority of the arm group.
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MOVE P, @E P1
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'Move to P1 in the PTP motion.
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CALL SetHighPathAccuracy
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'Enable the high-accuracy path control.
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MOVE S, 5
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'Move the robot arm along path #5
'in free-curve motion under high-accuracy
'path control.
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CALL ResetHighPathAccuracy
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'Disable the high-accuracy path control.
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MOVE P, @0 P5
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'Move from P4 to P5 in the PTP motion.
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END
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'End the program.
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