Installation manual

Chapter 6 Programming

6-29

（３）Designated Absolute Position/Orientation Control

The tip matrix (T-matrix) on the base coordinate system and axis value for

restriction data is provided for the target tip orientation.

ｎx ｏx ａx ｐx

T-matrix ：ｎy ｏy ａy ｐy

ｎz ｏz ａz ｐz

axis value for restriction data ：（ θS1，θS2，･･･ θW2 ）

Target matrixes are as follows:

・Absolute position target matrix: controls only positions. Orientations do not

change.

・Absolute orientation target matrix: controls only orientation. Positions do not

change.

・Absolute position/orientation matrix: controls positions and orientations.

Axis value for restriction data

Due to the redundant axis control mode selected before performing the designated

absolute position/orientation control, axis value for restriction data will be effective

as follows:

Redundant axis

control mode

(JOUMODE)

Relation between each mode and axis value for restriction data

No restriction

(JM_OFF)

Not depending on provided axis values for restriction data at all.

All axes restricted

(JM_ON)

All axes are restricted by provided axis values for restriction data

S3-axis restricted

(JM_S3ON)

At first, interpolates the S3-axis restriction value, then, the S3-axis is

restricted by the interpolated target S3-axis value as the restriction

axis value.

S3-axis interpolation

(JM_S3DIV)

S3-axis is interpolated to come to the input S3-axis restriction value.

S3-axis fixed

(JM_S3HOLD)

Not depending on provided axis values for restriction data at all.

Keep the S3-axis angle when the designated absolute

position/orientation control is issued. It is controlled by other

6-axes, only.

For further information, refer to “Redundant axis control.”