Installation manual

Chapter 6 Programming
6-25
In 7-axis arm, the tip position/orientation (RMRC) control can be classified in two on
a large scale.
① Elbow control changing the tip position/orientation.
・Tip position deviation control
・Tip orientation deviation control
・Designated absolute position/orientation control
・Designated position/orientation/velocity control
・Current point motion control (tip linear motion)
・Playback control (except data for PTP axis interpolation)
・RMRC real-time control mode
② Elbow control not changing the tip position/orientation.
・Redundant axis velocity control
・Redundant axis restriction parameter control
・Redundant axis motion control
Tip Position/Orientation Interpolation Method:
This method calculates the tip position/orientation interpolation and controls the tip
to the input target position/orientation.
This method interpolates the velocity command to form a letter “S” shape.
The motion velocity, adjusting to the position/orientation default velocity, is
interpolated to form a letter “S” shape.
Start-up(acceleration)
Uniform Velocity
Acceleration:ω
Velocity：ｖ
Linear/rotational
T=[NOAP]
Shutdown (deceleration)
Target osition/Orientation
Linear/rotationalDefault