Acceleration/Deceleration Time And Speed Control - Mitsubishi Electric CR750-Q Instruction Manual

(5) Acceleration/deceleration time and speed control

The percentage of the acceleration/deceleration in respect to the maximum acceleration/deceleration, and
the movement speed can be designated.
*Command word
Command word
Accel
Ovrd
JOvrd
Spd
Oadl
*Statement example
Statement example
Accel.................................................................................
Accel 60, 80......................................................................
Ovrd 50.............................................................................
JOvrd 70...........................................................................
Spd 30 ..............................................................................
Oadl ON ...........................................................................
*Movement speed during joint interpolation
Controller (T/B) setting value x Ovrd command setting value x JOvrd command setting value.
*Movement speed during linear and circular interpolation
Controller (T/B) setting value x Ovrd command setting value x Spd command setting value.
*Program example
Robot movement
Hand
P1
(2)..........Maximum speed
(3)....50%
(4)120mm/s
P2
Designates the acceleration during movement and the deceleration as a percentage (%) in
respect to the maximum acceleration/deceleration speed.
Designates the movement speed applied on the entire program as a percentage (%) in respect
to the maximum speed.
Designates the joint interpolation speed as a percentage (%) in respect to the maximum speed.
Designate the linear and circular interpolation speed with the hand end speed (mm/s).
This instruction specifies whether the optimum acceleration/deceleration function should be
enabled or disabled.
:Robot movement
:Movement position
(1)....Maximum speed
(6)70%
(5)Maximum speed
P3
Explanation
Sets both the acceleration and deceleration to 100%.
Sets the acceleration to 60% and the deceleration to 80%.
(For maximum acceleration/deceleration is 0.2 sec.
acceleration 0.2/0.6=0.33 sec. deceleration 0.2/0.8=0.25 sec. )
Sets the joint interpolation, linear interpolation and circular interpolation to 50% of the
maximum speed.
Set the joint interpolation operation to 70% of the maximum speed.
Sets the linear interpolation and circular interpolation speed to 30mm/s.
This instruction enables the optimum acceleration/deceleration function.
CAUTION
The statement examples and program exam-
ples are for a vertical 6-axis robot.The hand
advance/retrace direction relies on the Z axis
direction (+/- direction) of the tool coordinate
set for each model.
Refer to the tool coordinate system shown in
"Confirmation of movement" in the separate
"From Robot unit setup to maintenance", and
designate the correct direction.
4MELFA-BASIC V
Explanation
*1) Specification of for-
ward/backward move-
ment of the hand
MELFA-BASIC V functions 4-103