Denso RC5 Dokumentacja Pobierz pdf (Strona 660)

[ 2 ] Boundaries of Robot Figures

This section describes the boundary of each of the robot shoulder, elbow, wrist, and

6th-axis figures.

When judging the boundaries of the robot shoulder, elbow, and wrist, the system

uses intersection point Pw of the two rotary axes of the 5th and 6th axes, as

illustrated in Figure 7.

Figure 7. Location of Pw

A boundary point in figures is called a singular point.

Any path defined by commands with CP control (e.g., MOVE, APPROACH, and

DEPART) should not run through the vicinity of the singular point. Refer to PART 1,

Section 4.3. If the path runs through the vicinity of the singular point, the robot will

issue ERROR6080s (Over speed) or ERROR6070s (Over software motion limit) and

Denso RC5 Dokumentacja Strona 660