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STE 58760
－ －
3-19
Note 1)
The number of joint axes depends on the robot type. For details, see the Transportation and
Installation Manual.
Note 2)
This data should be set for all five axes.
(3) Construction of servo
Specifies axes for which servo motors are used. Each setting for five axes should be
separated with a space. To use the servo motor for an axis, set that axis to "1"; to not use the
servo motor for an axis, set that axis to "0".
Example)
To use the servo motors for all five axes, set this data to [= 1 1 1 1 1].
Note)
This data should be set for all the five axes.
(4) Gravity compensated axis
Specifies an axis for which gravity compensation is performed. Each axis where gravity
compensation is performed is controlled so that the arm does not drop by its own weight when
the servo free state takes effect. In the servo free state, position control by the servo motor is
turned off and the robot can be manually moved. Each data for five axes should be separated
with a space. To perform gravity compensation for an axis, set that axis to "1". To not
perform the gravity compensation for an axis, set that axis to "0".
Example)
When performing the gravity compensation only for the axis Z (axis 3), set to [= 0 0 1 0 0].