Mitsubishi Electric CR750-Q Instruction Manual page 189

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 downward>]
[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
[Explanation]
(1) The maximum acceleration/deceleration is determined according to the robot being used. Set the corre-
sponding percentage(%). The system default value is 100,100.
(2) The acceleration percentage changed with this command is reset to the system default value when the
program is reset or the End statement executed.
(3) The smooth operation when Cnt is valid will have a different locus according to the acceleration speed or
operation speed. To move smoothly at a constant speed, set the acceleration and deceleration to the
same value. Cnt is invalid in the default state.
(4) It is also valid during optimum acceleration/deceleration control (Oadl On).
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.
Detailed explanation of command words 4-169
4MELFA-BASIC V