Denso RC5 Specifications download pdf (Page 100)

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Therefore, when X>S2, the pass motion never changes even if you change X.

And when X>S2, the “Set path start displacement distance again” warning is

displayed on the pendant.

If the deceleration start position changes, the acceleration time of the next path

also changes. As shown in Fig. 3-21, the motion time may be longer compared

with @P designation.

Fig. 3-21 Motion Time When the Deceleration Start Position Changes.

Note: In the following case, even if you designate with “@ numeric

value,” the pass motion starts from the position which is less

than the position of numeric value = L (mm).

(1) If the speed pattern becomes a triangle because of its

short curve.

Similar to “If path motion effect reduces” on page 4-7, the

pass motion start position changes. Especially, if the

robot executes the path motion, when the motion changes

from low speed to high speed, the pass motion start

position may easily change. During the pass motion, use

a constant internal speed before and after the pass

motion.

Speed

Time Time

In the case of @P designation In the case of @ numeric value designation

MOVE L,@P P1

MOVE L,@0 P2

Speed

1 2 ... 95 96 97 98 99 100 101 102 103 104 105 ... 691 692

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Denso RC5 Specifications Page 100

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