Installation manual

Chapter 6 Programming
6-104
６．１２．２ Tip position offset control
Method to control arm providing offset value in actual time in RMRC feedback control.
If brake-stop or feedback control is performed, offset cannot be added.
What is in RMRC feedback control:
・RMRC feedback control servo lock status
・When in playback control.(except PTP axis interpolation data)
・When in RMRC control motion to the current point.
・Waiting status for playback start
There are three coordinate systems able to input offset value. For each of them, absolute
addition and relative addition are provided.
Mechanical interface coordinate system Absolute deviation offset control
Mechanical interface coordinate system Relative deviation offset control
Base coordinate system Absolute deviation offset control
Base coordinate system Relative deviation offset control
Trajectory coordinate system Absolute deviation offset control
Trajectory coordinate system Relative deviation offset control
Trajectory coordinate system means the one on the playback tip trajectory.
Further, more is explained later.
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