CP Motion Speed / Acceleration and Tool Orientation

When you attempt to change only the tool orientation while keeping the tool tip of the robot arm at the specified coordinate point or when the tool orientation variation is larger than the travel distance of the tool tip, the speed of tool orientation change may greatly accelerate. To prevent this, there is a function that automatically limits the motion speed when the speed of tool orientation change is large.

If you want to manually set the upper limit of the tool orientation change speed during CP motion, turn on SpeedRLimitation. If, during CP operation, the tool orientation change speed then exceeds the set SpeedR, the motion speed is limited so that the tool orientation change speed becomes SpeedR. If the tool orientation change speed does not exceed the set SpeedR, it operates at the set SpeedS. The upper limit of the tool orientation change speed should be set in advance with SpeedR.

For example:

SpeedR 50            ' deg/sec
SpeedRLimitation On
Move P1

For more details, refer to the following manuals:

"SPEL+ Language Reference - SpeedRLimitation, SpeedR"

KEY POINTS

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• The SpeedR default value is set to low, so if SpeedR is not set properly, CP movements will be slow with orientation changes. If SpeedRLimitation is enabled, set SpeedR (upper limit of tool orientation change speed) appropriately along with SpeedS.

  Also, by adding the ROT parameter to the CP motion commands, you can perform motions based on the angular velocity and angular acceleration/deceleration of the main axis for the specified orientation changes.

  For example:

  SpeedR 50        ' deg/sec
  AccelR 200, 200  ' deg/sec2
  Move P1 ROT
  

• The tool orientation variation is normally comprised of orientation variations of more than one rotation axis.

  The SpeedR and AccelR parameters specify the angular velocity and acceleration/deceleration of the main axis regarding the orientation variation. Therefore, actual angular velocity and acceleration/deceleration of the orientation variation are different from the parameters except for the case where the rotation axis of the orientation is only one.

  While the motion command with the ROT parameter is executed, the specified SpeedS and AccelS parameters are invalid.

  The ROT parameter can be used with the following motion commands:

  • Move
  • Arc
  • Arc3
  • BMove
  • TMove
  • Jump3CP