Denso RC5 Dokumentacja Pobierz pdf (Strona 110)

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(2) Current Limiting Setting under Compliance Control

Under the compliance control condition, providing motors with torque

according to the position deviations controls the force at the tip. Thus, the

conventional control according to angular deviations for individual axes is

not active (current limit = 0), and the robot motion may be oscillating. If this

is the case, you can adjust the current limiting setting in stead of adjusting

the force limiting rate under the compliance control condition to realize a

smoother control. When you use the current limiting setting in stead of the

force limiting setting to adjust the tip force limit in a specific direction, set

the force limiting setting in that direction to 0 and adjust the current limiting

setting of the angle rotating for the motion in the limiting direction. You can

use the special tip compliance control function library (SetCompLimit) to set

the current limit for the individual axes. The initial values are 0 after turned

on.

(3) Parameters for Selecting How to Control Compliance

Control according to the velocity deviation in stead of the position deviation

will increase the stability in contacting motion. You can use a special tip

compliance control function library (SetCompVMode) to set the velocity

control mode and use SetFrcLimit and SetDampRate to set the control

direction.

(Example) Setting the velocity control mode in Z axis direction

CALL SerFrcCoord(0)

CALL SetCompVMode

CALL SetFrcLimit (100, 100, 0, 100, 100, 100)

CALL SetDampRate (100, 100, 100, 100, 100, 100)

CALL SetCompControl

3.5.3.4 Notes for Your Safety

(1) Error Detecting Functions

When the force is limited by the compliance function, a robot may move

toward the force limiting direction due to an external force. Also a robot

may move due to the component force in a force limiting direction of an

external force applied in a direction other than the force limiting direction.

The following functions have been added to detect abnormality for the

safety in adjusting a robot.

1) Position deviation under compliance control error (60F8)

This error occurs when the position deviation at the robot tool tip

exceeds the limit. The initial values for allowable deviation are 100

(mm) for translation along and 30 (degree) about X, Y and Z axis. You

can use SetCompEralw to change the allowable deviation. Since large

allowable deviation may prevent detecting an error, do not set excessive

limits.

2) Force limit reference error (60FB)

This error occurs when an excessive force is applied at the robot tool

tip. This error occurs when you have a robot contact in the direction

where you set a high force limiting rate. Make sure that the force

limiting direction and the force limiting parameters are set properly when

you receive this error.

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