Mitsubishi Electric CR750-Q Instruction Manual page 252

4MELFA-BASIC V
Fine (Fine)
[Function]
This instruction specifies completion conditions of the robot's positioning with number of encoder pulses. It
is invalid during the smooth movement control (Cnt 1).
Depending on the type of robot (RP series), positioning using the Dly instruction may be more effective than
using the Fine command.
[Format]
Fine[]<No. of pulses> [, <Axis No.>]
[Terminology]
<No. of pulses>
<Axis No.>
[Reference Program]
1 Fine 300
2 Mov P1
3 Fine 100,2
4 Mov P2
5 Fine 0
6 Mov P3
7 Fine 100
8 Mov P4
[Explanation]
(1) The Fine command does not complete movement instructions such as Mov by giving commands to the
servo; rather, it completes positioning by determining whether or not the feedback pulse value from the
servo is within the specified range. It is thus possible to confirm positioning more accurately.
(2) There are cases when the Dly instruction (timer) is used for positioning instead of the Fine instruction.
This instruction is easier to specify.
1 Mov P1
2 Dly 0.1
(3) Fine is invalid in the program until the Fine command is executed. Once Fine is validated, it remains
valid until invalidated.
(4) Fine is invalidated at the end of the program (Execution of the End instruction, program reset after paus-
ing).
(5) When the continuous movement control valid state (Cnt 1) is entered, the Fine command will be ignored
even if it is valid (i.e., it will be treated as invalid, but the status will be kept).
(6) To the addition axis (general-purpose servo axis), although the valid/invalid change of Fine is possible,
specification of the pulse number cannot be performed. The value registered in the "INP" parameter on
the servo amplifier side is used. Thus, when the integers other than zero are specified, the Fine
becomes effective by the parameter set value of servo amplifier, and the Fine becomes invalid when 0
is specified.
(7) If a positioning completion condition is specified using the Fine instruction while the compliance mode is
activated, depending on the operation the robot may be unable to reach the positioning completion
pulse of the target position, and will wait indefinitely for the completion of the operation instruction. As a
result, the program execution comes to a halt. Do not use the compliance mode and the Fine instruction
at the same time.
(8) The Fine command is affected by the encoder resolution or the gear ratio because positioning judgment
is made using encoder pulses of the motor axis. The output angle per pulse differs depending on the
model or the axis. To monitor positioning using the unit of the output axis (in units of mm or degree), use
the Fine P command or the Fine J command.
4-232 Detailed explanation of command words
Specify the positioning encoder pulses number.
This will be invalid to when set to 0. The default value is 0.
Designate the axis No. to which the positioning pulses are to be designated. The positioning
pulses will be applied on all axes when omitted.
' Designate 300 for the positioning pulses.
' Change the 2nd axis positioning pulses to 100.
' Invalidate the positioning pulse designation.
' Designate 100 for the positioning pulses.