Installation manual

Chapter 6 Programming
6-105
Absolute deviation
If offset is issued, offset value is added on the basis of playback trajectory.
Relative deviation
If offset is issued, offset value is added to the trajectory having previously added some
offset value.
Offset Pool method:
Either absolute or relative deviation offset, offset value has a limit to be added, if needed,
in every cycle. Therefore, the method adopted is: to set the offset limit value added in
every cycle, creating offset pool, add the provided offset value little by little in several
cycle.
For example, setting a limit value (5.0 mm) when in offset addition with absolute
deviation offset control (the base coordinate system), offset value (toward X +100.0mm) is
provided.
Adding offset (5.0mm toward X in every cycle), at the twentieth cycle, it reachs 100.0
mm toward X.
+100mm
+20mm-70mm-50mm +50mm
Playback
Offset issued
Playback trajectory
＋offset
-100mm
+100mm
+20mm-70mm-50mm +50mm
Playback
Offset issued
Playback
trajectory
＋offset
-100mm