Installation manual

Chapter 6 Programming
6-35
６．５．５ Redundant Axis Control
The redundant axis control is the restriction mode to control each 7-axis value to a
certain direction in the RMRC and playback control.
There are two meanings in these redundant controls below.
① Redundant axis
No restriction (Tip position/orientation restricting control)
control mode
All axes restricted (All axes control)
S3-axis restricted (S3-axis restricting control)
S3-axis interpolation (S3-axis interpolation control)
S3-axis fixed (S3-axis fixing control)
The mode to choose how much restriction should be made or not make it at all for
a redundant axis (elbow) while in operation.
② Redundant axis
Redundant axis velocity control
operation control (The redundant axis control mode changes into
S3-axis interpolation.)
Redundant axis parameter alteration
(The redundant axis control mode changes into
S3-axis restriction.)
Redundant axis parameter reset
(The redundant axis control mode is changed
without restriction.)
S3-axis angle control
(The redundant axis control mode changes into
S3-axis interpolation.)
Control to actuate the redundant axis (elbow) without changing the tip position and
posture.