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6. The SPEL+ Language

LJM function for CP motion command

LJM function and AutoLJM command described above are also available for CP motion

commands. However, since CP motion commands give priority to operate based on

specified trajectories, the manipulator sometimes reach to the point with a different posture

from the specified one. At this time, if CP motion command is used with CP On, an error

from 4274 to 4278 will occur according to the mismatched point flag. To avoid the error,

operate the manipulator with CP Off, or match the point flag of a target point and the one

after motion completion. If operated with CP Off, the error does not occur and the

manipulator can continue operation from the point where the mismatch happened.

Also, you can set the controller’s preference so that the mismatches of flags are not

considered as an error at the controller startup. However, path motions which use CP On

will be disabled.

CP motion near the singularity (singularity avoiding function in CP motion)

When executing Move or CP motion near the singularity, joint speed may increase rapidly.

The over speed error will occur and the joints will move widely and interfere with

peripherals. Particularly the position of Joint #1 changes greatly near the hand singularity

and the position of Joints #2 - #6 near the wrist singularity.

RC+5.0 has a singularity avoiding function to prevent acceleration errors during the

execution of CP motion commands that pass the wrist singularity described above. With

this function, the manipulator takes a detour to avoid an acceleration error by passing a

different trajectory and returns to the original trajectory after passing the singularity. For

details of the singularity avoiding function, refer to AvoidSingularity in the SPEL+

Language Reference.

Singularity avoiding function is enabled as default. If you want to avoid the error by

reducing the motion speed in order to maintain the trajectory accuracy, you can disable the

function temporarily by setting “0” to AvoidSingularity.

If you cannot avoid errors even if you use the singularity avoiding function, use PTP

motion to enable the least motion of the joints or arrange the manipulator installation

position and hand offset volume to prevent the CP motion near the singularity.

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Epson RC170 Guía de usuario Pagina 189