RAPID reference manual - Technology

InstructionHollowWristResetRobotWare-OSHollowWristReset - Reset hollow wrist for IRB5402 andIRB5403HollowWristReset resets the position of the wrist joints on hollow wrist manipulators,such as IRB5402 and IRB5403.The instruction makes it possible to avoid rewinding the wrist joints 4 and 5 after theyhave been wound up one or more revolutions. After executing a HollowWristResetinstruction, the wrist joints may continue to wind up in the same direction.DescriptionHollowWristReset makes it easier to make application programs. You do not have toensure that the wrist position is within +/-2 revolutions at the time of programming,and it may save cycle time because the robot does not have to spend time rewindingthe wrist. However, there is a limitation of +/-144 revolutions for winding up joints 4and 5 before the wrist position must be reset by HollowWristReset. The robot programmermust be aware of this limitation and take it into consideration when planning therobot programs. To ensure that the 144 revolution limit is not exceeded after running a“wrist-winding” program several times, you should always let the robot come to acomplete stop and reset the absolute position in every program (or cycle/routine/moduleetc. as necessary). Please note that all axes must remain stopped during the executionof the HollowWristReset instruction. As long as these limitations are taken intoconsideration, joints 4 and 5 can wind indefinitely and independently of joint 6 duringprogram execution.Please use HollowWristReset instead of IndReset to reset the hollow wrist as thisinstruction preserves the joint limits for joint 6 in order to prevent too much twistingof the paint tubes/cables.ExampleMoveL p10,v800,fine,paintgun1\WObj:=workobject1;HollowWristReset;All active axes are stopped by a stop point and the wrist is reset.LimitationsAll active axes must be stopped while the HollowWristReset instruction is executed.The wrist joints must be reset before any of them reach the +/-144 revolution limit (i.e.51840 degrees/ 904 rad).RAPID reference manual - part 1a, Instructions A-R 129