Advance Preparation

Before using current limiting function, following settings must be performed.

Required Settings

Tip Payload Specification

Specify the exact mass of payload and payload center of gravity of the tip. Set values corresponding to a hand and a work used for the mass of payload [g], the payload center of gravity X [mm], the payload center of gravity Y [mm], and the payload center of gravity Z [mm]. If the mass changes during chucking or unchucking a work, use PayLoad command to change the setting.

Gravity Offset Specification (for 6-axis robot only)

Be sure to enable the gravity offset specification when current is limited. Otherwise, an error may occur. To enable the gravity offset, use the Smart TP to set the enabling/disabling gravity offset setting to 1.
Though GrvCtrl command may also be used to enable/disable the gravity offset, the robot may present a slight movement while switching between the enabled state and disabled state. We recommend to use the configuration of the Smart TP to set the enabling/disabling gravity offset setting to 1 and call GrvCtrl once in the initialization program.

Settings Performed According to Circumstances

Allowable Deviation Specification

If an external force is applied while current is limited, joint will rotate toward the direction of the force. This will increase the deviation of the angle of the joint and may cause an error. If this is the case, use Eralw command to set the allowable deviation specification. The function checking deviation is provided for safety. Do not extend the range unnecessarily.