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2 Robot arm
2.2 Definition of specifications
The accuracy of pose repeatability mentioned in catalogs and in the specification manual is defined as follows.
2.2.1 Pose repeatability
For this robot, the pose repeatability is given in accordance with JIS 8432 (Pose repeatability). Note that the value
is based on 100 measurements (although 30 measurements are required according to JIS).
［Caution］ The specified "pose repeatability" is not guaranteed to be satisfied under the following conditions.
[1] Operation pattern factors
1) When an operation that approaches from different directions and orientations are included in rela-
tion to the teaching position during repeated operations
2) When the speed at teaching and the speed at execution are different
[2] Load fluctuation factor
1) When work is present/absent in repeated operations
[3] Disturbance factor during operation
1) Even if approaching from the same direction and orientation to the teaching position, when the
power is turned OFF or a stop operation is performed halfway
[4] Temperature factors
1) When the operating environment temperature changes
2) When accuracy is required before and after a warm-up operation
[5] Factors due to differences in accuracy definition
1) When accuracy is required between a position set by a numeric value in the robot's internal coor-
dinate system and a position within the actual space
2) When accuracy is required between a position generated by the pallet function and a position
within the actual space
Definition of specifications
2-13
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