Cnv_AccelLim Statement
Sets limit of acceleration and deceleration after the conveyor tracked.
Syntax
Cnv_AccelLim conveyorNumber, modeNumber, accel/decel
Parameters
- conveyorNumber
- Specify the conveyor number as an integer (1-16).
- modeNumber
- Specify the tracking mode for conveyor tracking as an integer value (0 to 2).
- accel/decel
- Set real value (unit: mm/sec2) of acceleration limit and deceleration limit after the conveyor tracked. Setting range is the same as the AccelS statement.
- Initial value
- - Quantity-priority mode: 500 [mm/sec2]
- - Accuracy-priority mode: 2000 [mm/sec2]
- - Variable speed conveyor mode: 6000 [mm/sec2]
Description
Repeating the operation of stopping and starting the conveyor during conveyor tracking causes delay in the robot's tracking due to the conveyor’s speed changes. Set the limit of acceleration and deceleration when improve tracking ability.
The acceleration and deceleration cannot be set separately.
If the limit is too high, robot motion gets oscillatory due to variation of the conveyor speed or noise. If it is lowered too much, the robot will not stop tracking the conveyor even it stops, and it may move out of the operating area of the robot. In that case, set a tracking abort line or program to stop tracking at the downstream limit.
Notes
This command will only work if the Conveyor Tracking option is active.
See Also
Cnv_AccelLim Function
Cnv_AccelLim Statement Example
Cnv_AccelLim 1,2,7000