If you resume a program while in AUTO mode, and the distance between the resume position and the stop position is greater than the stop tolerance, a prompt box is displayed. When this occurs, you must perform specific actions to restart the program.
Stop tolerance is the amount of distance allowed between the resume robot position and the robot stop position. You can specify the following stop tolerances:
Distance tolerance , for the location components of the position (x,y,z)
Orientation tolerance , for the orientation components of the position (w,p,r)
Axes tolerances for the joint angle ( rotary axes ) or distance location (translational axes ) of any extended axes, if they are used.
Table 1. Tolerance Setup Items
ITEM | DESCRIPTION |
---|---|
Group Default: 1 Min: 1 Max: 8 |
This item is the motion group number of the axes for which you are setting tolerances. If you have a multiple motion group system, this is a number from 1 to 8. If you do not have a multiple motion group system, make sure Group is set to 1. |
Enable Tolerance Checking Default: YES |
This item specifies whether tolerances
will be checked during program resume.
|
Distance Tolerance Default: 250 mm Min: 0.1 mm Max: 1000 mm |
This item specifies the location distance between the resume robot position and the position in which the robot stopped when the program was stopped. |
Orientation Tolerance Default: 20 degrees Min: 0.1 degree Max: 80 degrees |
This item specifies the angular or orientation distance between the resume robot tool approach vector and the stop position of the tool approach vector. |
Axes Tolerance Rotational Axes Default: 20 degrees Min: 0.1 degree Max: 80 degrees |
If the robot has a rotary extended axes, this item specifies the angular or orientation distance between the resume extended axes position and the corresponding extended axes of the robot stop position. |
Axes Tolerance Translational Axes Default: 250 mm Min: 0.1 mm Max: 1000 mm |
If the robot has a linear extended axes, this item specifies the location distance between the resume extended axes position and the corresponding extended axes of the robot stop position. |