Mitsubishi Electric CR750-Q Instruction Manual page 313

SpdOpt (Speed Optimize)
[Function]
Adjusts the speed so that the speed does not exceed during the linear interpolation operation in the horizon-
tal direction which passes through near the singular point (X=Y=0: one of the robot's singular points).
Note) This command is limited to the corresponding robot models.
Robot model: RH-3FHR series
[Format]
SpdOpt[]<On/Off>
[Terminology]
<On/Off>
[Reference Program]
1 Mov P1
2 SpdOpt On
3 Mvs P2
4 Mvs P3
5 SpdOpt Off
6 Mvs P6
[Explanation]
(1) When performing a XYZ interpolation operation while maintaining the speed of the control point, the J1
axis must rotate at a faster speed when passing through a point near the origin point O (one of the
robot's singular points) as shown in
specified speed. If SpdOpt On is executed, the speed is adjusted automatically in order to prevent an
excessive speed error from occurring.
For example, while in operation at the command speed V, it approaches the origin point O, and the
speed will be exceeded if it continues to operate at the current speed, the speed is decreased automat-
ically as shown by A in
passed near the origin point O and it becomes possible to increase the speed, it starts accelerating to
reach command speed V as shown by B in
(2) Relation between Ovrd or Spd command
Moves at one of late speed.
a) If the specified speed (Ovrd or Spd command) is slower .......... Moves at specified speed.
b) If the specified speed (Ovrd or Spd command) is faster ........... Moves at the adjustment speed in
ON: Enable the speed-optimization function.
OFF: Disable the speed-optimization function.
' Enable the speed-optimization function.
' Disable the speed-optimization function.
Fig. 4-32, causing an excessive speed error depending on the
Fig. 4-33 in order to prevent the speed to be exceeded. Then, when it has
Fig. 4-33.
this function.
Detailed explanation of command words 4-293
4MELFA-BASIC V