Setting of Positioning Error Ranges

These commands are used to specify the allowable positioning error for detecting completion of any given move for each joint.

This positioning completion check begins after the CPU has completed sending the target position pulse to the servo system. Due to servo delay, the manipulator will not yet have reached the target position. This check continues to be executed every few milliseconds until each joint has arrived within the specified range setting. Positioning is considered complete when all axes have arrived within the specified ranges. Once positioning is complete program control is passed to the next statement, however, servo system keeps the control of the manipulator target position.

When relatively large ranges are used with command, the positioning will be confirmed relatively early in the move, and executes the next statement.

The default settings depend on the manipulator type. Refer to your manipulator manual for details.

• Cycle Times and the Fine Command
  The Fine value does not affect the acceleration or deceleration control of the manipulator arm. However, smaller Fine values can cause the system to run slower because it may take the servo system extra time (a few milliseconds) to get within the acceptable position range. Once the arm is located within the acceptable position range (defined by the Fine instruction), the CPU executes the next user instruction. (Note that all activated axes must be in position before the CPU executes the next user instruction.)
• Initialization (by Motor On, SLock, SFree)
  Any time the following commands are used the Fine value is initialized to default values:
  • SLock, SFree, Motor instructions
    Make sure that you reset Fine values after one of the above commands execute.