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STE 58760
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1-7
Acceleration/deceleration speed setting
Speed at acceleration can be programmed in the range of 1 to 100 % in 1 % increments,
using the ACCEL instruction.
Likewise, deceleration speed can be programmed in the range of 1 to 100 % in 1 %
increments by means of the DECEL instruction.
Speed limit
A limit can be set on the maximum speed so that the robot speed can always be slower
than this limit. It is convenient to use in the TEST RUN mode.
(13) Servo gain ON/OFF function (servo-free)
Servo control ON and OFF are possible for each axis, using the program instruction (GAIN).
The same operation is also possible through the teach pendant.
(14) Torque limiting function
A limit value for each joint motor torque can be set in the range of 0 to 300 %, using the
program instruction.
When transferring or inserting a workpiece, there are occasions in which the robot motion is
mechanically obstructed due to faulty workpiece, etc., or no excessive force should be
exerted on the workpiece. When this happens, it is possible to prevent damage of the
work hand or robot by limiting the motor torque.
(15) Interruptive function
When any external signal is input during robot motion, the motion can be stopped instantly
and required processing can be executed by means of external input signals.
(16) Coordinate system setting function
Coordinate systems of the robot and peripheral equipment can be established through the
teach pendant.
(17) Program function
When the robot language SCOL is used, jump, subroutine, loop, interruptive processing,
delay time, speed setting, interpolation, hand operation, vertical movement and rotation of
each axis by an air cylinder are possible.
For details, see the Robot Language Manual.
(18) Operation
In the internal-automatic operation mode, the five modes are available; step, motion step,
cycle, continue and machine lock. (The step and machine lock modes can be selected
only in the test operation.)
In the external-automatic operation mode, the continue or cycle mode can be selected.