Installation manual

Chapter 6 Programming
6-34
６．５．４ Notes on RMRC Control
Precautions on the RMRC control are described below.
Exceeded Arm Length:
Regarding the RMRC control in PA, there are uncontrollable areas. When the
current and target value exist out of the motion area, if the E1-axis passes through
the 0[deg] point (the length from S2 rotation origin to W1 rotation origin: 930 [mm]),
called a singularity, the RMRC control is not allowed to enter.
In the case of RMRC control, when creating the current value and the target one, the
RMRC checks whether arm length is exceeded or not.
When acquiring teach data other than PTP axis interpolation data, if arm length
exceeds, data cannot be obtained.
In the error message, LENGTH is indicated as “Arm Length.”
・ERR_NOT_ENUGH：The arm length target value exceeds more than 925 [mm]. In
this case, in interpolation calculation, the target values are automatically corrected.
The arm does not stop.
・ERR_OVER900：During operation, when the arm length becomes 930 [mm], the brake
stops.
・ERR_CANT_MOVE：If the arm length current value exceeds more than 925 [mm],
the RMRC control is not allowed to enter.
(Example) at the basic orientation, E1 = 0. The RMRC control is not allowed to
enter.
LENGTH (arm length)