Installation manual

Chapter 6 Programming

6-36

６．５．５．１ redundant Axis Control Mode

The redundant axis control mode is available for the controls below:

・When in the RMRC position/orientation control

・When in the designated absolute position/orientation control

・when in the playback control (except data for PTP axis interpolation)

Redundant axis control mode restriction is as follows:

Restriction None Low High Fixation

Redundant axis

control mode

restriction

All axes S3-axis S3-axis

Restriction Restriction Interpolation

S3-axis

Fixed

The following are advantages and disadvantages of each mode.

(a) Redundant Axis Control – No Restriction

This control creates the most stable angles for all 7 axes (reliable orientation for

the arm)

Advantages: On account of no axis restriction, it has a more tip

position/orientation motion ability than other redundant axis control mode.

Disadvantages: If this mode is chosen even though the target axis angle or axis

value for restriction data is input, the target axis angle and axis value for

restriction data are ignored.

(b) Redundant Axis Control – All Axes Restriction Mode

This controls for all 7 axes to approach the target axis angle as much as

possible.

Advantages: Restriction is not strict. It has a tip position/orientation motion

ability.

Disadvantages: As this control restricts the 7 axes, all axes usually do not move

to the target axis angle. (especially when the target orientation shows arm

malfunction.)

This control has some strong restrictions for the S3-axis to move to the target

angle.

Advantages: As this control has some strong restrictions, the axis has much

possibility to approach the target orientation. This is most balanced control

method among these five modes.

Disadvantages: The arm might be shifted faster toward the target angle. If the

S3-axis angle deviation is large, the tip position/orientation and the S3-axis

are interpolated with the interpolation value calculated by “S3-axis deviation

divided by S3-axis default velocity.” The tip position/orientation/velocity

becomes invalid.