Functional Limits of each Robot Series
The respective robot series (A, As, M/H, E 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 / E series (current-based) | A Series S (Current-based and 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 (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
The teach pendant and DART-Studio can be used to monitor force data. The DRL command (Check_force_condition()) can also be used to externally monitor force data.
- When 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 / E 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 limit (Base Rx, Ry orientation)) | ||||
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)) | ||||
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 the DRL command: | 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)) |
Control output limit (Base Rx, Ry orientation): The force or compliance control values corresponding to the Base Rx, Ry orientation are not output. Entering the force or compliance control value of the relevant axis (Base Rx, Ry) will be ignored as “0”.