Denso RC5 Especificações descarregar pdf (Página 108)

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3.5.3.2 How to Use Tip Compliance Control Function

You can use the library function and execute the compliance control libraries

(SetCompControl, ResetCompControl) to enable or disable this function. Make

sure to provide the following setting. See the section for the PAC library for

more information on the library.

(1) Tip Payload Specification (Required)

See 2-1 “How to Use Current Limiting Function”.

(2) Gravity Offset Specification (Required)

See 2-1 “How to Use Current Limiting Function”.

(3) Compliance Control Parameters (Required)

There are following five parameters.

1) Force Limiting Coordinate System Selecting Parameter

Select either the base, the tool or the work coordinate system for the

force limiting coordinate system. Use the compliance control library

(SetFrcCood) for specification.

2) Force Limiting Rate

Specify the rate of force limiting for the individual elements (translations

along and rotations about X, Y, and Z axes ) of the coordinate system

specified at 1). Use the compliance control library (SetFrcLimit) for the

specification. When you specify SetFrcLimit, 3) the compliance rate and

4) the damping rate will be the same.

3) Compliance Rate (If Applicable)

Specify the rate of compliance for the individual elements (translations

along and rotations about X, Y, and Z axes ) of the coordinate system

specified at 1). Use the compliance control library (SetCompRate) for

the specification. When you specify SetCompRate, 4) the damping rate

will be the same.

4) Damping Rate (If Applicable)

Specify the rate of damping for the individual elements (translations

along and rotations about X, Y, and Z axes ) of the coordinate system

specified at 1). Use the compliance control library (SetDampRate) for

the specification. You seldom use this function except for the velocity

control mode, which is a special tip compliance control function. Note

that you should not specify values smaller than the compliance rates

specified in SetFrcLimit and SetCompRate.

5) Allowable Position/Posture Deviation under Compliance Control (If

Applicable)

Specify the allowable position/posture deviation for the individual

elements (translations along and rotations about X, Y, and Z axes ) of

the coordinate system specified at 1). Use the compliance control

library (SetCompEralw) for the specification. The initial value for the

position deviation is 100 (mm) and the posture deviation is 30 (degree).

The function checking deviation is provided for safety. You should not

extend the range unnecessarily.

(4) Gravity Offset Compensation (If Applicable)

The gravity offset compensation function compares the torque at stationary

state of your robot and the gravity offset torque to compensate the error

when SetCompControl is specified. Executing SetCompControl may

generate an error in the compensation value when an external force such

as a contact is applied to the robot. Run SetCompControl while the

external forces (except for gravity) are not present. Use SetGrvOffset and

SetCompFControl and execute the libraries as described below when you

enable the compliance control under external forces are applied to your

robot.

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