Denso RC5 Spécifications télécharger pdf (Page 351)

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101

Chapter 12 Robot Control Statements

12-75

ST_SetGrvOffset (Statement) [Ver.1.9 or later]

Function

Compensates the torque of each joint programmed with

ST_SetGravity

for gravity

torque.

Format

ST_SetGrvOffset

Explanation

Each joint of the robot undergoes downward static load (gravity torque) due to earth

gravity. Although gravity compensation command

ST_SetGravity

allows you to adjust

the balance between the limited torque and gravity torque, the balance may be off-

balance due to the difference between the mass of payload you set and the actual

one.

This offset function presumes the gravity torque when the robot is on halt and

calculates the gravity offset value.

Related Terms

ST_SetCurLmt, ST_SetGravity, ST_ResetGrvOffset

Notes

(1) Execute this command in a TAKEARMed task that has obtained arm semaphore

If this command is executed without arm semaphore obtained, Error "21F7

Cannot take arm semaphore" will result.

(2) This command should be executed when the motor power is on and the robot is

on halt. If it is executed when the motor power is off, Error "6006 Motor power is

off" will result. If it is executed when the robot is in motion, Error "600B Robot is

running" will result.

(3) If the robot attitude is greatly changed after execution of this command, execute

this command again.

(4) If the current limit reset value in User Preferences is set to any value other than

"1", "3", "5", or "7", the compensation value will be reset to "0" when you turn on

the motor power.

Example

ST_SetGrvOffset

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Denso RC5 Spécifications Page 351

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