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STE 58760
－ －
1-4
Robot
Horizontally articulated robot
SR–504 HSP
SR–1054 HSP
SR–854 HSP
SR–654 HSP
SR–554 HSP
Robot controller SR–7000
Teach pendant
Fig. 1.2 System Configuration of SR Series System Robot
1.1.2 Functions
(1) Control method
A 32-bit microprocessor serves as the central processor.
A 16-bit microprocessor is used for communication control and a 32-bit microprocessor for
each axis servo control, thus servo control, robot language processing and editing are
possible. Also, an 8-bit microprocessor is employed for the teach pendant to realize a more
intelligent robot.
(2) Motion
The motion comes in three types; PTP (point-to-point) control, CP (continuous path) control
(linear interpolation, circular interpolation (option)) and short-cut.
PTP control: Dedicated SCOL language MOVE
This control is used to move each axis fast to a specified position, irrespective of a path.
Simultaneous operation is executed in which all axes start moving simultaneously and
finish simultaneously.
CP control (linear interpolation): Dedicated SCOL language MOVES
This is the path control in which all paths are predetermined. Each axis moves between
two taught points in the Cartesian coordinate system along the shortest distance. It is
used to move the end effector of the robot along a straight line.
CP control (circular interpolation): Dedicated SCOL language MOVEC
Each axis moves on an arc from the current point to the target point via specified mid-
point.