Table of Contents
Advertisement
Parameter
Parameter
name
Warm-up operation
WUPOvrd
override
Functional setting
CMPERR
of compliance error
No. of arrays
No. of characters
Integer 2
Perform settings pertaining to the speed in the warm-up operation
status.
(Initial value, ratio of value constant time) Unit: %
Initial value: Specify the initial value of an override (warm-up
operation override) to be applied to the operation speed when in
the warm-up operation status. (Setting range: 50 to 100)
Ratio of value constant time: Specify the duration of time during
which the override to be applied to the operation speed when in
the warm-up operation status does not change from the initial
value, using the ratio to the valid time.
(Setting range: 0 to 50)
The correspondence between the values of warm-up operation
overrides and the setting values of various elements is shown in
the figure below.
Warm-up
operation override
100%
Initial value
(First element)
Note: If a value outside the setting range is specified, it is
processed as if the closest value in the setting range is
specified.
Note: If the initial value of an override is 100%, the warm-up
operation mode will be disabled.
Note: For multiple mechanisms, this mode is set for each
mechanism.
Integer 1
Setting this parameter prevents errors 2710 through 2740 (errors
that occur if the position command generated in compliance
control is abnormal) from occurring.
1: Enable error generation
0: Disable error generation
The contents of applicable errors are as follows:
2710: The displacement from the original position command is
too large.
2720: Exceeded the joint limit of the compliance command
2730: Exceeded the speed of the compliance command
2740: Coordinate conversion error of the compliance
command
If these errors occur, compliance control is not functioning
normally. It is thus necessary to re-examine the teaching position
and the program content to correct the causes of these errors.
Change this parameter value to 0 (disable error generation) only
when you can determine that doing so does not cause any
operational problem even if the current operation is not suspended
by an error.
5Functions set with parameters
Details explanation
Value constant time = Valid time x
Ratio of value constant time(Second element)
Value constant time
Valid time of the warm-up operation status
Factory setting
70, 50
Time during
which a target
axis is operating
1 (Enable error
generation)
Movement parameter 5-350
Advertisement
Table of Contents
