Concurrent I/O•Parameter - Motoman

2.2 System Conform ParametersS3C413 to S3C415: POSITION CORRECTING FUNCTION DUR-ING PLAYBACKThese parameters specify the necessary data for position correcting function (PAM) duringplayback operation.S3C413S3C414S3C415Specifies the limit of position correcting rangeSpecifies the limit of speed correcting rangeSpecifies the correcting coordinates0 : Base1 : Robot2 : Tool3 : User 1to26:User 24S3C416: MAXIMUM DEVIATION ANGLE OF CURRENT STATIONPOSITION (When Twin Synchronous Function Used)Used when the twin synchronous function is used. Specify the maximum deviation of theteaching position and the current station position.0 : No deviation checkOther : Deviation Angle (unit : 0.1°)than 0In the above figure on the left, the follower R2 executes the job of subtask 2 in synchronizationwith the motion of the station axis which is moved by the R1 job. In this procedure, the job ofsubtask 2 controls only the R2 robot axis.If the teaching position of the station in the subtask 2 differs from the station current position(controlled by the subtask 1 job), the difference is automatically offset so that R2 keeps thetaught position in relation to the station.Difference between the taught and the station current positions is always monitored if the differenceexceeds a set value of the parameter, the message “PULSE LIMIT (TWIN COORDI-NATED)”.2-33