AutoSTM

Sets the Auto STM function.

Syntax
(1) AutoSTM ModeSetting
(2) AutoSTM

ModeSetting

RS series
STM_H_MODE_FASTEST: The Auto STM function is enabled. When a PTP motion command is executed, the orientation flag is changed to minimize the operation time. J1Flag, J2Flag and arm posture (Hand Flag) are changed. The values of the X, Y, Z, and U axes remain unchanged. When multiple orientation flags result in the shortest operation time, the one with the least change in orientation flags is selected.
STM_OFF: The Auto STM function is disabled.
Other models
AutoSTM is not supported.

Description
Sets AutoSTM when the mode setting is omitted.
The current status of AutoSTM is displayed when the mode is set.

When the RS series robot moves to a point calculated by such as pallet or relative offsets, Arm #1 and Arm #2 may rotate to an unintended direction if the orientation flags are not specified correctly. Also, you won't know which orientation flag to select to minimize the operation time until you actually try it. AutoSTM prevents unintentional arm rotation and minimizes operating time. This is expected to shorten the takt time.
Consider PTP motion from point P0 to point P1 in the figure below. In the RS series, there are eight orientation flag selection patterns, based on combinations of J1Flag, J2Flag, and hand orientation. The red lines in the figure show the trajectory when moving from point P0 to point P1 corresponding to each orientation flag. The numbers at the bottom left of the figure indicate the operating time. When AutoSTM is enabled, it operates toward the orientation flag that results in the shortest operation time among the multiple available flags. In the example shown in the figure below, the orientation flags for the lefty of No. 6, J1F0, and J2F1 are selected.

AutoSTM is enabled with the following command.
Go, BGo, TGo, Pass, Jump
The operation time is calculated based on the Weight, Inertia setting value, and Speed, Accel setting when the function is executed. When you change these settings, the results of orientation flag conversion by AutoSTM may change. When testing AutoSTM, use the speed and acceleration settings for the actual environment.
Regardless of the power mode setting, SpeedFactor setting, and SLS speed adjustment value, the orientation flag conversion results by the STM function are not changed. When the power mode is Low, the orientation flags are converted based on the operation time calculated using the Speed and Accel settings before the power output is limited. The conversion results of the orientation flags do not change depending on whether it is in test mode or AUTO mode.
Orientation flags outside the pulse motion range are not selected.

When AutoSTM is enabled, the operation is performed to minimize the operation time, similar to when an STM function is applied.
For example, when you want to apply the STM function to a series of motions, the program using only the STM function would be as follows.

Go STM(P1)
Go STM(P2)
Go STM(P3)

By using AutoSTM, you can write the program as follows to achieve the same effect.

AutoSTM STM_H_MODE_FASTEST
Go P1
Go P2
Go P3
AutoSTM STM_OFF

AutoSTM allows you to enable STM for specific sections of a program, eliminating the need to change individual motion instructions.

AutoSTM is disabled in the following cases:

Controller is started.
Reset
All task stop
Motor On

When the operation mode is TEACH mode, the AutoSTM setting is ignored.
The AutoSTM and AutoLJM functions cannot be enabled at the same time. When AutoSTM is enabled and AutoLJM is then enabled, AutoSTM becomes disabled and AutoLJM becomes enabled. When AutoLJM is enabled and AutoSTM is enabled, AutoLJM is disabled and AutoSTM is enabled.

Note

Wiring and device layout

When using the AutoSTM function, the hand orientation may be switched before and after the movement. When the hand orientation is switched, the arm moves in a folding motion, so pay attention to the wiring.
Also, make sure that the layout does not interfere with peripheral devices when the arm is switched to righty or lefty. The figure below shows an example of the behavior when the hand orientation is switched.

Errors due to differences in orientation flags

This command is intended for use in coarse positioning. When positioning the same point with righty or lefty, positional deviation may occur due to tool setting errors or calibration errors. For work that requires precise positioning, do not use this command, but use taught points.

AutoSTM Statement Example
The following program is an example of using AutoSTM with the RS series. It performs a reciprocating Jump between the pallet and the specified point.
The operation times are selected to minimize the operating time.

Function AutoSTM_Example1
	Integer i;
	' Motor, speed, and acceleration settings
	Motor On; Power High;
	Speed 20; Accel 20, 20;
	Weight 1.0; Inertia 0.005;
	P1 = XY(-200, -200, -50, 0)
	P2 = XY(-200, -50, -50, 0)
	P3 = XY(-50, -200, -50, 0)
	P10 = XY(150, 150, -50, 0)
	' Palette settings
	Pallet 1, P1, P2, P3, 5, 5
	Pulse 0, 0, 0, 0
	' Enable the AutoSTM function
	AutoSTM STM_H_MODE_FASTEST
	For i = 1 To 25
		Jump Pallet(1, i)
		Jump P10
	Next
	' Disable the AutoSTM function
	AutoSTM STM_OFF
Fend

← AutoOrientationFlag Function AutoSTM Function →