Installation manual

Chapter 6 Programming
6-7
６．３ Axis Angle Control
Method to control from the operation control section providing axis target angle.
The motion control section calculates each axis interpolation and controls angle
feedback.
The method to provide target values is as follows:
＜Method to input angles＞
Axis angle control（ θ
S1
，θ
S2
，･･･ θ
W2
）
＜
Axis Angle Control＞ The method to use a orientation previously registered.
・Basic Orientation Control
・Escape orientation control
・Safety Orientation Control
Axis Angle Interpolation Method
This method to control the selected axis to the target angle, calculating axis
interpolation.
This method interpolates the velocity command to form a letter “S” shape.
The motion velocity is interpolated adjusting to the default velocity.
Start-up (acceleration) time
Uniform Velocity
Acceleration:ω
Velocity：ｖ
Angle:θ
Shutdown (deceleration) time
Target Angle (command value)
Axis default velocity
Each angle gain
K
S1
0
K
S2
0 K
W2
Ｋ
θ
－
＋
Current angle of axis
θ= ［θ
S1
･･θ
W2
］
Angle deviation
Δ θ =［Δθ
S1
･･Δθ
W2
］
θ
・
θ
Joint axis
Velocity command
Current value
Current angle of axis
After interpolation
θ= ［θ
S1
･･θ
W2
］