Installation manual

Chapter 6 Programming
6-23
６．４．２．３ Control around Angle Limit
Entry protection to the angle limit:
The SC method is the algorism built-in originally for singularity avoidance. In PA10,
using this algorism, processing to decelerate the whole motion of a manipulator just
before the angle limit.
Conditional analyses are performed to all moving axes. If any of them approaches to
the angle limit, it is forcefully decelerated following SC method.
The deceleration range is from 3 degrees before axis angle limit, where starts
decelerating linearly, to the angle limit where the velocity is reduced up to 10% (the
rated velocity.)
Teach mode motion
In teach mode the velocity limit is lowered by force. As the velocity limit in the SC
method is basically lowered.