Improvements To Robot and Controller
The work area in the new Motoman L10W was increased by 80% and the robot wrist is more narrow. The robot was made of a light aluminium alloy which helped reduce the size of its motors.
The model L10WA, with its extra wrist axis called A, was the world’s first six axes robot. The control system RG could handle either this robot model, or the ordinary L10W and an external axis. However, the L10W-models were almost exclusively used with the next generation controller RX.
The later versions of RG control system enabled circular and linear interpolation, three dimensional shifting of a robot job and pendular motion. It was even possible to control it from an external computer, but that was not put to much practical use.