Configuring Motors As Robot Joints Or Extended-Joints; Robot Joints - Denso SMT7 Instruction Manual

Chapter 4 Configuring the Joint Parameters

Configuring Motors as Robot Joints or Extended-Joints

4.6
The motors connected to the controller can be configured as robot joints or
extended-joints. Any or all of joints 1 to 4 can be configured as robot joints. (In
version 2.7 or earlier, all of four joints J1 to J4 are fixed as robot joints.)
Robot joints can be driven by robot motion commands enabling CP motion (linear
and circular). To enable those robot motion commands, however, joints J1 to J4
should be configured as predetermined.
All joints except robot joints are used as extended-joints.
For details about operations of robot joints and extended-joints, refer to the
Supplement for Extended-Joints Support.
4.6.1

Robot Joints

Configuring robot joints J1 to J4 in Cartesian coordinates as shown below enables
you to drive those joints with robot motion commands enabling CP motion (linear and
circular).
Example of joint configuration with Cartesian coordinates realized in robot motion
NOTE: To drive joints correctly in a CP motion (linear or circular), the configuration
and the motion directions of J1 to J4 must match the Cartesian coordinates
(coordinates for RIGHTY) shown above. In a different configuration of J1 to
J4, commanding a CP motion causes an unexpected motion. It is
dangerous. Use a PTP motion instead of a CP motion.
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