Data Sheet

IRONBOY USER MANUAL Ver.1.03_Eng
32
When Motion or Motions are completed, select concerned
motions or click "SelectALL" button. Then, click
"Download" button to download selected motion library
into robot..
After download, please make sure to save created
library. Click "File" in the menu and select "Save" or
"Save As". File format is "Robot motion data file" as
shown in the picture, and file name can be made as you wish.
② Motion Property Setting
In this setting, you can set,
- Motion repeat section(see page 30)
- Motion repeat acceleration rate and repeat count.
Repeat Section setting
Set repeat step section. Above picture shows repeat
step is set between Step 2 and 4.
Acceleration rate & count : In the picture, acceleration rate is set at 1.05x and it is repeated 3 times.
Acceleration will be increased whenever it is repeated by 1.05x rate.
(Caution : If acceleration rate is too excessive, it will influence bad effect to the servo. )
Enable Auto recovery function during motion operating so that robot may
stand up when it falls. See page 27 for auto recovery setting.
This makes first step movement more smooth. Use this function to
make smooth transition from current posture between the steps.
Exchange lower joints motor value and repeat it.
Exchange Upper joints motor value and repeat it.