Mitsubishi Electric CR750-Q Instruction Manual page 287

(4) The differences between the standard mode and the other operating characteristics modes are as fol-
lows.
Table 4-19:By-operating mode Performance Comparison
Operating mode
Standard mode
High-speed position
mode
Trajectory priority mode
Vibration suppression
mode
(Note) Symbols in the table indicate relative performance rating.
◎ Improved, ○ + Somewhat improved, ○ Same, ○ -Somewhat degraded, △ Degraded
*1: For comparing the robot's ability to respond to operating command value
*2: For comparing the capability of suppressing external perturbations which induce vibration
*3: For comparing the amount of heat generated by the motor
(5) If optimum acceleration/deceleration control (specified with the Oadl command or ACCMODE parame-
ter) is disabled, it is automatically enabled by executing the MvTune command. Furthermore, if Oad-
leOff is executed after executing the MvTune command, optimum acceleration/deceleration control only
will be disabled. (The operating mode will not change.)
(6) High-speed positioning mode may allow vibration during acceleration or deceleration to become higher
as compared with the standard mode. If this is inconvenient, select the standard mode.
(7) The trajectory priority mode is adjusted so as to achieve maximum effect at operating speeds in medium-
to low-speed range. Therefore, when a motion involved is such that a small circle is drawn, vibration
may increase as compared with the standard mode. In this case, use the Spd command to slow operat-
ing speed and thus decrease vibration.
(8) Use of the vibration-suppressing mode may lead to an increased overshoot in the "time required to reach
target position" depending on the operating condition that is used. In such an operation that starts pend-
ing the completion of the positioning task (e.g. operation which uses Fine command), tact time may
become delayed. (The greater the mass of work, the greater the overshoot.)
(9) This command does not function for the jog operation.
[Related instructions]
Loadset (Load Set)
[Related parameter]
ACCMODE, HNDDAT 0 to 8, WRKDAT 0 to 8
Time required to
reach target
○
◎
△
○ -
、 Oadl (Optimal Acceleration)
Items of comparison
Trajectory Vibration
accuracy (*1) suppression (*2)
○
○ +
◎
○ -
、 Prec (Precision)
Detailed explanation of command words 4-267
4MELFA-BASIC V
Load factor (*3)
○ ○
○ △
○ +
○
◎ ○