Denso RC5 Spezifikationen PDF herunterladen (Seite 98)

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3-8

3.2.8 If Acceleration Affects Pass Motion Path

The VS-D series robot automatically sets the square of speed divided by one

hundred for acceleration and deceleration when you set speed.

If you use a SPEED command, in the same manner as above, acceleration

and deceleration is set.

If the robot executes a pass motion by using the set automatic acceleration, its

motion path is always constant. Fig. 3-15 shows an example when the speed is

set to 60% and 80%.

CAUTION: When you set acceleration, be sure to check that there

is no danger of collision due to the change of pass

motion path.

Same pass motion path unde

the above two conditions

Fig. 3-15 Example of Automatic Acceleration Setting

If you set arbitrary acceleration, the motion path may change. Fig. 3-16 shows

an example of 60% speed with 100% acceleration and 10% deceleration.

Fig. 3-16 Example of Arbitrary Acceleration Setting

CAUTION: If you execute an instantaneous stop during

deceleration of the pass motion and restart the motion,

the robot moves to the position of the next step

command value. Therefore, exercise due care if speed,

acceleration, and deceleration are occurring.

Fig. 3-17 Restart the Motion After the Instantaneous Stop

Restart motion

after

instantaneous

stop

Instantaneous

stop position

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