Functional Limits of each Robot Series
The different robot series (A, As, M/H Series) limit the use of functions as follows:
- Current-based: Current of motor located on each joint is used.
- FTS-based: An FTS (force torque sensor) located on the end of the robot is used.
- JTS-based: JTS (joint torque sensors) located on each joint is used.
Features | A Series (Current-based) | A Series S (Current, FTS-based) | M Series (JTS-based) | H Series (JTS-based) |
|---|---|---|---|---|
Direct Teaching - Free Motion | O | O (Current-based) | O | O |
Direct Teaching - Restrained Motion | X | O (FTS based) | O | O |
Collision Detection | O | O (Current-based) | O | O |
Installation Pose Measurement | X | O (FTS based) | O | X(the robot can only be installed on the floor) |
Tool Weight Measurement | X | O (FTS based) | O | O |
Workpiece Weight Measurement | X | O (FTS based) | O | O |
Nudge Function | X | X | O | O |
Force Control | O (setting available only in three translation directions, excluding rotation) | O (FTS based) | O | O |
Compliance Control | O (setting available only in three translation directions, excluding rotation) | O (FTS based) | O | O |
Functional Limits of force monitoring for each Robot Series
You can use the teach pendant and DART-Studio to monitor force data. You may also use the DRL command (Check_force_condition()) to monitor force data externally.
- If the palletizing mode is set to “ON”: The same control/monitoring functions provided in the OFF state are available, except for H Series robots.
Features | A Series (Current-based) | A Series S (Current-based and FTS-based) | M Series (JTS-based) | H Series (JTS-based) |
|---|---|---|---|---|
Force control | O (setting available only in three translation directions, excluding rotation) | O (FTS-based) | O | O |
O (If the palletizing mode is set to “ON”: Force control output limited (Base Rx, Ry orientation) 1)) | ||||
Compliance control | O (setting available only in three translation directions, excluding rotation) | O (FTS-based) | O | O |
O (If the palletizing mode is set to “ON”: Compliance control output limited (Base Rx, Ry orientation) 1)) | ||||
Force monitoring (Teach Pendant) | X | O (FTS-based) | O (Force value of “0” shown for the singularity section) | O (Force value of “0” shown for the singularity section) |
O (If the palletizing mode is set to “ON”: 4-Degree of Freedom provided for the base (x, y, z, Rz)) | ||||
Force monitoring (DART-Studio) | O (Force value of “0” shown for the singularity section) | O (FTS-based) | O (Force value of “0” shown for the singularity section) | O (Force value of “0” shown for the singularity section) |
O (If the palletizing mode is set to “ON”: 4-Degree of Freedom provided for the base (x, y, z, Rz)) | ||||
Force monitoring (When using DRL commands: | O (Force value of “0” shown for the singularity section) | O (FTS-based) | O (Force value of “0” shown for the singularity section) | O (Force value of “0” shown for the singularity section) |
O (If the palletizing mode is set to “ON”: 4-Degree of Freedom provided for the base (x, y, z, Rz)) |
1) Control output restriction (Base Rx, Ry orientation): The force or compliance control value for the Base Rx or Ry orientation has not been output. Entering the force or compliance control value of the relevant axis (Base Rx, Ry) will have no effect, and will be ignored as “0.”