Command 1350: Specifies whether to use LJM automatically in order to avoid singularity (AutoLJM)
Sets Auto LJM (Least Joint Motion).
Command Syntax
| bit | Name | Description | |
|---|---|---|---|
| Parameter 1 | 15 | setting | 0: Auto LJM disabled (default) 1: Auto LJM enabled |
| 14 | |||
| ｜ | |||
| 1 | |||
| 0 |
Response Syntax
Refer to the following.
Description
AutoLJM is available for following commands.
Arc, Arc3, Go, Jump3, Jump3CP, Move
When AutoLJM is On, the manipulator operates with a least joint motion, just like using the LJM function, whether the LJM function is applied to the position data to be passed to each command or not.
If the Auto LJM is enabled, the function will be applied to all commands until it is disabled.
In any of the following cases, AutoLJM has the setting specified in the controller settings (factory default: Off).
- Controller startup
- Reset
- All task stop
- Motor On
- Switching the Auto / Programming operation mode
AutoLJM Usage Precaution
You can set the AutoLJM function to be enabled at the controller startup by setting the controller preferences. However, if Auto LJM is enabled at all times by controller preferences or commands, this function automatically adjusts the posture of the manipulator to reduce the motion distance, even when you intended to move the joint widely.
Therefore, it is recommended to create a program to apply the LJM function only when necessary by using LJM function or AutoLJM command.
Example
Executes Go command with the Auto LJM enabled.
| Command | Response | Description |
0546H 0001H 07D0H 0000H 0000H 0546H 0000H | 0546H 0000H 0000H 07D0H 0000H 0000H 0546H 0000H 0000H | AutoLJM enabled Motion command (Go) AutoLJM disabled |