High Path Accuracy Control - Mitsubishi Electric CR750-Q Instruction Manual

4MELFA-BASIC V

(7) High path accuracy control

It is possible to improve the motion path tracking when moving the robot. This function is limited to certain
types of robot. Currently, the Prec instruction is available for vertical multi-joint type 5-axis and 6-axis robots.
*Command word
Command word
Prec
*Statement example
Statement example
Prec On ............................................................................
Prec Off.............................................................................
*Program example
Robot movement
Hand
(1)
(7)
(2)
P1
•Program example
Program
1 Mov P1, -50 *1)
2 Ovrd 50
3 Mvs P1
4 Prec On
5 Mvs P2
6 Mvs P3
7 Mvs P4
8 Mvs P1
9 Prec Off
10 Mvs P1, -50 *1)
11 End
CAUTION
4-106 MELFA-BASIC V functions
This instruction specifies whether the high path accuracy mode should be enabled or disabled.
:Robot movement
:Movement position
P4
(5)
(6)
(3)
P2
(1)
' Moves with joint interpolation from P1 to position retracted 50mm in hand direction.
' Sets the movement speed to half of the maximum speed.
(2)
' Moves with linear interpolation to P1.
' The high path accuracy mode is enabled.
(3)
' Moves the robot from P1 to P2 with high path accuracy.
(4)
' Moves the robot from P2 to P3 with high path accuracy.
(5)
' Moves the robot from P3 to P4 with high path accuracy.
(6)
' Moves the robot from P4 to P1 with high path accuracy.
' The high path accuracy mode is ÇÑisableÇÑ.
(7)
' Returns the robot to the position 50 mm behind P1 in the hand direction using linear
interpolation.
' Ends the program.
The Prec instruction improves the tracking accuracy of the robot's hand tip, but low-
ers the acceleration/deceleration of the robot movement, which means that the cycle
time may become longer. The tracking accuracy will be further improved if the Cnt
instruction is not included. However, the hand tip speed cannot be guaranteed in this
case.
Explanation
Enables the high path accuracy mode.
Disables the high path accuracy mode.
CAUTION
*1) The statement examples and program
examples are for a vertical 6-axis robot.The
hand advance/retrace direction relies on the
P3
Z axis direction (+/- direction) of the tool coor-
dinate set for each model.
Refer to the tool coordinate system shown in
(4)
"Confirmation of movement" in the separate
"From Robot unit setup to maintenance", and
designate the correct direction.
Explanation
*1) Specification of for-
ward/backward move-
ment of the hand
Explanation