Installation manual

Chapter 6 Programming 6-1
６．１ Control arm
6-2
６．２ Common items
6-3
６．３ Axis angle Control
6-7
６．３．１ Axis angle Control
6-8
６．３．２ Axis orientation Control
6-9
６．４ Tip position / orientation (RMRC) control: 6 (six) axis arm
6-11
６．４．１ Tip position / orientation (RMRC) control
6-11
６．４．２ Motion in peculiar orientation ( at a peculiar point )
6-19
６．４．２．１ Types of peculiar points
6-20
６．４．２．２ Singularity avoidance motion
6-21
６．４．２．３ Control around angle limit
6-23
６．５ Tip position / orientation (RMRC) control: 7-axis arm
6-24
６．５．１ Tip position / orientation (RMRC) control
6-24
６．５．２ Elbow actuating control changing tip position / orientation
6-26
６．５．３ Elbow actuating control not changing tip position / orientation
6-33
６．５．４ Notes for RMRC control
6-34
６．５．５ Redundant axis control
6-35
６．５．５．１ Redundant axis control mode
6-36
６．５．５．２ Redundant axis operation control
6-41
６．６ Velocity Control
6-44
６．６．１ Axis velocity control
6-45
６．６．２ Tip position velocity control
6-47
６．６．３ Tip orientation velocity control
6-49
６．６．４ Tip position / orientation velocity control
6-51
６．６．５ Redundant axis velocity control
6-53
６．７ Direct Control
6-55
６．８ Real-Time Control
6-57
６．８．１ Axis real-time control
6-58
６．８．２ RMRC real-time control mode
6-60
６．９ DIO Control
6-67
６．１０ Teach / Playback Motion
6-70
６．１０．１ Teach point and data
6-72
６．１０．２ Teach data operation
6-77
６．１０．２．１ Current point alteration
6-78
６．１０．２．２ Additional teach points
6-80
６．１０．２．３ Teach point (data) deletion
6-81
６．１０．３ Shift to current point (teach point)
6-82
６．１０．４ Starting of playback motion (check-up operation)
6-83