ROBOTIC-FUNCTIONS Provider A provider enables the direct control of various factory automation products (image processing apparatuses, sensors, hands, etc.) using PacScript (DENSO robot language).High-accuracy Path Control This function decreases any change in the path due to change in speed, to improve path accuracy in the arc motion and the free curve interpolation motion.Command Slave Robots can be controlled with PLC languages (ladder programs). Function blocks that support 107 robot commands are offeredEtherCAT Slave motion Allows centralized robot path generation from an IPC with EtherCAT Master installed.Optimal Speed Setting Optimizing motion speed and acceleration according to the load on the tip of the robot arm shortens the tact time.External TCP The external TCP function enables rotation about the coordinate origin of a workpiece, making it possible to easily teach the robot with reference to the object.Virtual fence The virtual fence prevents the robot from colliding with surrounding facilities.Collision detection When the robot collides with a peripheral device or workpiece, this function detects the collision and brings the robot to an emergency stop.High-precision calibration The high-accuracy calibration function improves the absolute accuracy to reduce differences between robots, significantly decreasing the man-hours required for teaching.Extended-joint support specification Extended joints can be controlled by the same interface as the robot. They can be easily adjusted using the Auto Gain Tuning function.Compliance Control Function with Force Sensor Constant control of a pressing force of a tip of the robot hand with force sensor. Stable operation on assembling, grinding and other work by using this function.External axis control By adding an extended joint board (EtherCAT), servomotors of various capacities can be controlled.Extended joint tracking Simultaneous control of conveyor and robots enables high tracking accuracy.Compliance control function The compliance control function protects workpieces and hands from excessive load by adjusting the pressing force.Motion Skip This function enables the robot to change the target point without stopping operation in the automatic mode.Circular tracking This function enables the robot to track workpieces on an arc path, achieving operation without stopping the index table, etc. Setup can be performed with the wizard-type GUI, achieving easy introduction.Exclusion control This function can prevent more than one robot from entering the exclusive area.Singular Point Avoiding Function When the robot passes through points in proximity to a singular point or other points where the posture of the robot changes, which requires linear interpolation, use of the singular point avoiding function enables the robot to move smoothly.b-CAP (communications protocol) By directly sending packets of motion commands to the robot from a PC, PLC or other device, the robot can be controlled.Cooperative Control By using two or more robots, heavy loads and long loads can be conveyed and assembled.Conveyer tracking Since a robot can track workpieces, workpieces can be conveyed and aligned without stopping the conveyer.