Vibration Reduction Technology
Vibration Reduction Technology (hereinafter referred to as VRT) is a function that reduces vibration due to robot motion.
VRT function is optional. VRT option’s key is required to use.
The vibrations of the following targets are reduced by VRT function.
- Robot
- Hands
- Base table that the robot is mounted
- Image processing camera
Set VRT parameters by “VRT_Set” command or Epson RC+ GUI (up to 15 parameters)
VRT parameters are necessary for vibration reductions. The parameters need to be changed depending on the following situations change.
- Robot orientations (e.g., arm stretching / bending orientations)
- When the weight of hands or an object held by hand changes
- Condition or state of the base table
“VRT_Set” command sets “enable” or “disable” of the VRT function.
If the VRT function is “enabled”, robot motion is suppressed not to generate vibrations as much as possible. Therefore, robot motion path will be different depending on “enabled” or “disabled” of the VRT function. Also, motion time may take longer.
Note that the VRT function has the feature mentioned above. Make sure to “disable” the VRT function for motion that does not need to reduce vibrations.
When the VRT function is “enabled” and satisfying the following conditions, it will be “disabled” automatically. When the VRT function is not satisfying the “Conditions for disabling the VRT function” *1 as shown below, the VRT function will be “enabled” automatically.
| Conditions for disabling the VRT function and motion commands | Note |
|---|---|
| Power Low | |
| Move, TMove, BMove, FCSMove | *2 |
| Arc | |
| Arc3 | |
| CVMove | |
| Jump3 | |
| Jump3CP | |
| Continuous Jog | |
| Step Jog |
*1) Following situations are when the VRT function is not satisfying the “Conditions for disabling the VRT function.”:
- Switch from Power Low mode to Power High mode
- A motion command other than the command which automatically “disable” the VRT function is executed (e.g.: “Go” Command)
*2) When executing these commands, the VRT function is automatically “disabled” since path or speed requires high accuracy. (If giving high priority to low vibration, “enable” the VRT function by “VRT_CPMOTION” command.)
When using conveyer tracking or force control function, the VRT function is “disabled” automatically and cannot be used.