Denso RC5 Spécifications télécharger pdf (Page 379)

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Chapter 12 Robot Control Statements

12-103

ST_SetZBalance (Statement) [Ver.1.9 or later]

Function

Sets the gravity compensation value of the Z and T axes (exclusively designed for 4-

axis robots).

Format

ST_SetZBalance

Explanation

Having no air balance mechanism, the Z and T axes of a 4-axis robot undergo a

downward static load (gravity torque). If you set the current limit value less than the

gravity torque in the current limit function, then the Z axis will move down and the T

axis will rotate.

This command estimates the gravity torque when the robot is on halt and sets the

gravity compensation value, preventing unexpected Z-axis downward movement and

T-axis rotation.

Related Terms

ST_ResetZBalance, ST_SetCurLmt

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 work weight changes after execution of this command, the preset gravity

compensation value will deviate. You need to execute this command again.

Example

ST_SetZBalance

1 2 ... 374 375 376 377 378 379 380 381 382 383 384 ... 691 692

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Denso RC5 Spécifications Page 379

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