Mitsubishi Electric MELFA BFP-A8787-F Instruction Manual page 88

8Perform Sequencer Direct
(5) Speed: Spd
Specify the speed of the end when the robot moves for linear interpolation. The unit is mm/s.
This value does not impact on the joint interpolation command.
When zero or 10000mm/s is specified as the speed, the robot is in the maximum speed control
mode.
The maximum speed control mode allows you to reduce the takt time by adjusting the motor speed of
robot's each axis while keeping linear track. Consequently, linear speed may change.
Actual linear speed is a value specified by override command multiplied by a speed specified by this
speed setting command.
Example: When override = 50% and speed setting = 300mm/s, actual linear speed = 0.5 x 300 =
(6) Shortcut/roundabout specification
There are three types of hand rotation direction below when performing a move command:
a) Shortcut specification
b) Roundabout specification
c) Move to teaching posture (Roundabout joint interpolation)
現在位置の姿勢(45度)
Posture of current position (45°)
2-77 How to Operate Sequencer Direct
150mm/s
Shortcut operation
近回り動作
Roundabout operation
遠回り動作
Move to teaching
ﾃｨｰﾁﾝｸﾞ姿勢へ移動
posture
目的位置の姿勢(-45度)
Posture of aimed position (-45°)
Moves to the direction
移動距離が180度未満とな
which the move distance is less than
る
180 deg.
方向へ移動します
Moves to the direction
移動距離が180度以上とな
which the move distance is 180 deg
る
or more.
方向へ移動します
ﾃｨｰﾁﾝｸﾞ姿勢(多回転ﾃﾞｰﾀ)
Moves to the position
の位置へ移動します
of teaching posture
→結果的に近回り／遠回り
(multi-turn data)
どちらのｹｰｽもあります
→ Results in both cases of shortcut
and roundabout.