I have some questions about fanuc spc count. We have extracted some data from a fanuc LR mate200iD/7lc robot. The fields we got are SYSTEM*$DMR_GRP[1].$SPC_COUNT[1-6].
1. Why do the spc count 5 and 6 have a wield ratio? basically spc6 = spc5*0.0099..+c.
2. seems that only axle 3 and 6 are linear combinations of spc counts. Others are pure linear scalings of one spc count values. Is this correct?
2. It seems that the gravity compensation does not impact any of these ralations. Which is wield. It makes me doubt if the gravity compensation actually works. Any insight in this?
TIA