Mitsubishi MELFA CR1D Instruction Manual page 242

4MELFA-BASIC IV
Oadl (Optimal Acceleration)
[Function]
Automatically sets the optimum acceleration/deceleration according to the robot hand's load state (Optimum
acceleration/deceleration control).
By employing this function, it becomes possible to shorten the robot's motion time (tact).
The acceleration/deceleration speed during optimum acceleration/deceleration can be calculated using the
following equation:
Acceleration/deceleration speed (sec) = Optimum acceleration/deceleration speed (sec) x Accel instruction
(%) x M_SetAdl (%)
* The optimum acceleration/deceleration speed is the optimum acceleration/deceleration speed calculated
when an Oadl instruction is used.
[Format]
Oadl[]<On / Off>
[Terminology]
<On / Off>
[Reference Program]
1 Oadl On
2 Mov P1
3 LoadSet 1ÅC1
4 Mov P2
5 HOpen 1
6 Mov P3
7 HClose 1
8 Mov P4
9 Oadl Off
*When parameter HNDHOLD1 is set to 0, 1
[Explanation]
(1) The robot moves with the optimum acceleration/deceleration according to the hand conditions and work-
piece conditions designated with the LoadSet command.
(2) The workpiece grasp/not grasp for when the hand is opened or closed is set with parameter HNDHOLD
1 to 8.
(3) Initial setting of Oadl can be changed by the ACCMODE parameter. (Refer to
Signal parameter"
(4) Once Oadl is On, it is valid until Oadl Off is executed or until the program End is executed.
(5) Depending on the conditions of the hand and/or workpiece, the motion time may become longer than
usual.
(6) It is possible to perform the optimum acceleration/deceleration operation by using the LoadSet and Oadl
instructions, and by setting the HNDDAT1(0) through 8 and WRKDAT1(0) through 8 parameters to
appropriate values. (Refer to
deceleration settings)")
(7) The value of the acceleration/deceleration speed distribution rate in units of axes are predetermined by
the JADL parameter. This value varies with models in the S series. Refer to the JADL parameter.
4-229 Detailed explanation of command words
ON : Start the optimum acceleration/deceleration speed.
OFF : End the optimum acceleration/deceleration speed.
' Move with maximum load.
' Set hand 1 and workpiece 1.
' Move with hand 1 + workpiece 1 load.
'
' Move with hand 1 load.
'
' Move with hand 1 + workpiece 1 load.
)
Page 377, "5.16 Hand and Workpiece Conditions (optimum acceleration/
Page 351, "Table 5-2: List