Denso RC5 Specifications download pdf (Page 99)

100

101

Chapter 3 Robot Motion

3-9

3.2.9 Pass Start Displacement

If you designate pass start displacement with “@P,” the next motion starts

together at the start of deceleration of the motion, which is executed until that

time. Therefore, the distance L between the path start position and passing

point B changes depending on the speed and the acceleration.

Fig. 3-18 Pass Start Position

If you designate pass start displacement with “@ numeric value,” the pass

motion starts from a position with a value = L (mm).

If the value designated with “@ numeric value” exceeds the deceleration

movement distance, the deceleration start position is corrected as shown in

Fig. 3-19.

Therefore, if designated with “@ numeric value,” the deceleration is reduced

and the movement path may be longer.

Fig. 3-19 Deceleration Start Position

The value designated with “@ numeric value” exceeds half of the movement

distance, the deceleration start position is fixed to half of the movement

distance as shown in Fig. 3-20.

Fig. 3-20 If (@numeric value) Exceeds 1/2 of Movement Distance

Speed

MOVE L,@×P1

Speed

Time Time

If this area (S

) is less than the numeric value

(x) of  numeric value designation (x>S

)

Speed

Time

If this area (S

) is less than the numeric value (x)

of  numeric value designation (x>S

)

MOVE L,@×P1

Pass start position

1 2 ... 94 95 96 97 98 99 100 101 102 103 104 ... 691 692

Comments to this Manuals

No comments

Denso RC5 Specifications Page 99

Comments to this Manuals

Related products and manuals for Robotics Denso RC5