Precautions for Use

Unavailable Functions

MC9 series has some functions and commands that can be limited depending on the connected robot and the setting in Kinematics Configuration.

• When MC9 series is connected to an MC9 series compatible amplifier

  Kinematics Configuration	Limited functions and commands
  	High precision control	Ambient temperature settings on the robot operation	Temperature drift offset function	GrvOffset
  All axis is extra joints	Unavailable
  6-Axis type A robot
  6-Axis type B robot
  SCARA robot
  Parallel link robot
  XR series robot
  XY, XYZ, XYZT type robots

  Kinematics Configuration	Limited functions and commands
  	GrvCtrl	Deflection compensation function	Singularity avoidance function	Virtual fence
  All axis is extra joints	Unavailable	Unavailable	Unavailable	Unavailable
  6-Axis type A robot	Available (*1)		Available	Available (*2)
  6-Axis type B robot			Unavailable
  SCARA robot	Unavailable
  Parallel link robot
  XR series robot
  XY, XYZ, XYZT type robots

  Kinematics Configuration	Limited functions and commands
  	CurLmt
  All axis is extra joints	Available
  6-Axis type A robot	Unavailable
  6-Axis type B robot
  SCARA robot
  Parallel link robot
  XR series robot
  XY, XYZ, XYZT type robots

  *1 : To use this function, use WINCAPSIII to specify the parameters required for your self-designed robot mechanism.

  *2 : Your self-designed 3D data can be read into Kinematics Configuration. For details, refer to this page.

• When MC9 series is connected to the RC8 series robot controller

  To use these functions, configure the RC8 series robot controller for use before configuring it for the connection to MC9 series.

  Robot Name	Limited functions and commands
  	High precision control	Ambient temperature settings on the robot operation	Temperature drift offset function	GrvOffset
  VS series (050/060/068/087)	Available	Available	Available	Unavailable
  VM, VP (6-axis) series		Unavailable	Unavailable
  HM series
  HSR, HSA1 series		Available	Available
  MC8	Unavailable	Unavailable	Unavailable

  Robot Name	Limited functions and commands
  	GrvCtrl	Deflection compensation function	Singularity avoidance function	Virtual fence
  VS series (050/060/068/087)	Available	Available	Available	Available
  VM, VP (6-axis) series
  HM series	Unavailable	Unavailable	Unavailable
  HSR, HSA1 series
  MC8				Available (*1)

  Robot Name	Limited functions and commands
  	CurLmt
  VS series (050/060/068/087)	Available
  VM, VP (6-axis) series
  HM series	Unavailable
  HSR, HSA1 series
  MC8	Available (*2)

  *1 : Your self-designed 3D data can be read into Kinematics Configuration. For details, refer to this page.

  *2 : The “CurLmt” command can be executed to the MC9 series connected to MC8 only when the target axis is not a robot axis or Kinematics Configuration is set to “All axis is extra joints”.

3D Model

If you create an MC9 project, no 3D model. You cannot simulate a 3D model on the smart TP and WINCAPSIII.

Kinematics Configuration allows you to read and use your self-designed 3D data.

If you would like to read 3D data into Kinematics Configuration, please contact our sales representatives.

Function to Specify the Existing Robot Joints

Activating the license for Kinematics Configuration will disable the function to "Specify Robot Joints".

To change the robot type after activating the license, change it by using Kinematics Configuration Tool.

Programming

Kinematics Configuration Tool has no dedicated commands that can be used only in Kinematics Configuration.