Mov P2 - Mitsubishi MELFA CR1D Instruction Manual

4MELFA-BASIC IV
Accel (Accelerate)
[Function]
Designate the robot's acceleration and deceleration speeds as a percentage (%).
It is valid during optimum acceleration/deceleration.
* The acceleration/deceleration time during optimum acceleration/deceleration refers to the optimum time
calculated when using an Oadl instruction, which takes account of the value of the M_SetAdl variable.
[Format]
Accel[] [<Acceleration rate>] [, <Deceleration rate>]
,[<Acceleration rate when moving upward>], [<Deceleration rate when moving upward>]
,[<Acceleration rate when moving downward>], [<Deceleration rate when moving down-
ward>]
[Terminology]
<Acceleration/Deceleration>
<Acceleration/Deceleration rate when moving upward>
<Acceleration/Deceleration rate when moving downward>
[Reference Program]
1 Accel 50,100
2 Mov P1
3 Accel 100,100

4 Mov P2

5 Def Arch 1,10,10,25,25,1,0,0
6 Accel 100,100,20,20,20,20
7 Mva P3,1
4-153 Detailed explanation of command words
1 to 100(%). Designate the acceleration/deceleration to reach the maximum speed from
speed 0 as a percentage. This can be described as a constant or variable. A default value
of 100 is set if the argument is omitted. A value of 100 corresponds to the maximum rate
of acceleration/deceleration. Unit: %
Specify the acceleration/deceleration rate when moving upward in an arch motion due
to the Mva instruction.
A default value of 100 is set if the argument is omitted. It is possible to specify the argument
either by a constant or variable.
Specify the acceleration/deceleration rate when moving downward in an arch motion due
to the Mva instruction.
A default value of 100 is set if the argument is omitted. It is possible to specify the argument
either by a constant or variable.
' Heavy load designation (when acceleration/deceleration is 0.2 sec-
onds, the acceleration will be 0.4, and the deceleration will be 0.2 sec-
onds).
' Standard load designation.
' Specify the override value to 20 when moving upward or downward due
to the Mva instruction.