R12 5-asis robot arm

R12 5-asis robot arm

R12 5-asis robot arm The role of the encoders in the R17 and as an R12 level 1 option is as watchdogs. The loop is closed after completion of each individual motion which is not the same as servo control. The R12 encoder option comprises miniature optical incremental encoders fitted to each axis.   Without encoders the R12 will run accurately and indefinitely open loop without error thanks to micro-stepping drives and accurate transmission. But if the robot suffers a collision then the controller does not know and carries on with the program even though the robot could be out of position. Such collisions usually only occur accidentally during programming and rarely during normal run...