Overview

Distance tracking function controls the robot so that a constant distance can be kept between the robot and the workpiece. Distance sensor which is connected to the analog I/O board (optional) is used. To use the function, analog I/O board (optional) is required.

Select one axis from the following as the direction to control.

  • Tool coordinate system: X axis, Yaxis, Zaxis
  • ECP coordinate system: X axis, Yaxis, Zaxis

ECP coordinate system can be selected only when the ECP (external control point motion) option is enabled.

Specify the axis to be controlled by AIO_TrackingSet.

The distance tracking function is available for SCARA robots (including RS series manipulators) and 6-Axis robots (including N series manipulators). Also, it can be used with multi-robot systems.

Carefully note the following when using the distance tracking function in multi-robot systems.

A: Two robots : Up to two distance tracking sensors are available. Two robots can use each distance tracking sensor to execute the distance tracking function simultaneously.

B: Three robots : One distance tracking sensor is available. One robot can use the distance tracking function. However, three robots can use the one distance tracking sensor and execute the distance tracking function in order by switching it.

C: More than four robots : The distance tracking function is not available.

When using the distance tracking function in multi-robot systems, you cannot connect the force sensor.

CAUTION

We recommend using a laser displacement meter for a distance sensor. For the specifications of the distance sensor, please check its manual thoroughly. Improper use of the sensor may result in abnormal motions of the robot.

For connection and use of the analog I/O board, refer to the following manuals:

  • "Robot Controller RC800-A Series Manual" - Analog I/O Board
  • "Robot Controller RC700 Series Manual - Analog I/O Board"
  • "Robot Controller RC700-D Manual - Analog I/O Board"
  • "Robot Controller RC700-E Manual - Analog I/O Board"
  • "Robot Controller RC90 Series Manual - Analog I/O Board"

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