Installation manual

Chapter 6 Programming
6-37
(d) Redundant Axis Control – S3-axis Interpolation Mode
Interpolating the S3-axis deviation (difference between the current and the
target angle), when the tip position/orientation is reached the target value, the
S3-axis is controlled to reach the target angle at the same time. This
restriction is stricter than ( c ).
Advantages: The S3-axis surely arrives to the target angle. This gives much
possibility for all seven axes to get to the target angle. To
summarize, arm can obtain the target posture and can be controlled
holding its posture following exactly the teach data.
Disadvantages: As this mode has rather strict restriction, the tip
position/orientation motion capability is low. If the S3-axis angle
deviation is significant, the tip position/orientation and the S3-axis
are interpolated with the interpolation quantity
calculated by
“S3-axis deviation divided by S3-axis default velocity.” The tip
position/orientation/velocity becomes invalid.
(e) Redundant Axis Control – fixed S3-axis Restriction Mode
Fixing the S3-axis angle is controlled by the axes, except the S3-axis, as a 6
axes manipulator. Choosing the fixed mode, keeps the S3-axis at the angle of
the RMRC control starting.
Advantages: It is available when chosen to control the elbow without changing
its position
Disadvantages: One (S3-axis) of the 7 axes is fixed to use as the 6 axes
manipulator. It loses the advantages of the 7 axes manipulator.