Installation manual

Chapter 6 Programming
6-38
（１）Redundant axis control mode as of RMRC position/orientation/deviation control
Selects to restrict the input axis value for restriction data or not when in the
RMRC position control. In the S3-axis fixed mode, regardless of input axis value for
restriction data, fix the S3-axis at the angle of the RMRC position/orientation
deviation control start. The arm is controlled as the 6 axes manipulator.
In other redundant axis control mode, axis value at the RMRC position/orientation
deviation control starting is defined as a value for restriction data. Therefore, the
S3-axis interpolation mode used only the restricted S3-axis value and the S3-axis
fixed mode make the same motion.
（２）Redundant axis control mode as of designated absolute position/orientation/ deviation
control
Selects to restrict the input axis value for restriction data or not, when in the
designated absolute position/orientation control. In the S3-axis fixing mode,
however, regardless of input axis value for restriction data, fixes the S3-axis at the
angle of the designated absolute position/orientation control starting, the arm is
controlled as the 6 axes manipulator.
The S3-axis restriction mode and the S3-axis interpolation mode are controlled
using only axis value for restriction data. Other axis value for restriction data
becomes invalid.