Pg Commands; R-I/O Commands; Force Sensing Commands; Robot Control Commands - Epson T-B Series Manual

T3-B T6-B Manipulator 17. Restrictions

17.3.3 PG Commands

If executing PG commands, motion error occurs.
PG_FastStop
PG_LSpeed
PG_Scan
PG_SlowStop

17.3.4 R-I/O Commands

If executing R-I/O commands/functions, motion error occurs.
LatchEnable
LatchState Function
LatchPos Function
SetLatch

17.3.5 Force Sensing Commands

If executing force sensing commands/functions, motion error occurs.
Force_Calibrate
Force_ClearTrigger
Force_GetForces
Force_GetForce Function
Force_Sensor
Force_Sensor Function Returns the current force sensor for the current task.
Force_SetTrigger

17.3.6 Robot Control Commands

ROTOK Function
DiffToolOrientation Function
DiffPoint Function

17.3.7 Other (FineDist)

You cannot use the command: FineDist
Robot determines the position by set value of Fine even if using FineDist.
Fine
FineDist
138
Stops the PG axes immediately.
Sets the pulse speed of the time when the PG axis starts
accelerating and finishes decelerating.
Starts the continuous spinning motion of the PG robot axes.
Stops slowly the PG axis spinning continuously.
Enable/Disable the latch function for the robot position by the
R-I/O input.
Returns the latch state of robot position using the R-I/O.
Returns the robot position latched using the R-I/O input signal.
Sets the latch function of the robot position using the R-I/O
input.
Sets zero offsets for all axes for the current force sensor.
Clears all trigger conditions for the current force sensor.
Returns the forces and torques for all force sensor axes in an
array.
Returns the force for a specified axis.
Sets the current force sensor for the current task.
Sets the force trigger for the Till command.
Returns whether an ROT modifier parameter can be added
when issuing a move command to a destination.
Returns the angle between the coordinate axes of Tool
coordinate systems. * When COORD_ALL is specified, an
error will occur. When a command except for COORD_ALL is
specified, the operation will be executed.
Returns the difference between two specified points.
Specifies and displays the positioning error limits.
(Unit: pulse)
Specifies and displays the positioning error limits (Unit: mm)
T-B series Rev.1