Def.range
0.00 - 0.45 s
Default value
0.20 s
Note
A restart attempt when it is not allowed will result in an error message:"NOT
ALLOWED COMMAND" at the programming unit.
5.2.4.23A
PATH (Motion optimizing)
It is possible to run the robot speed optimized or path optimized. The cycle time is normally
shorter with speed optimized than with path optimizing.
Note
Zone data under ZONE will be set to the default value if this parameter is
changed. Therefore remember to install the zone size again when the parameter
has been changed, if other values than the default value is required (see chapter
5.2.4.4).
Path optimizing will be installed if predefinition from PROM is used.
The system parameter for motion optimizing is installed as follows:
0 • Path optimized running
This is the default value when using predefinition from PROM. It is recommended to use
path optimized running, if nothing else is required. Normal corner zones will be installed
when path optimizing is installed. The motion will be stopped when changing from
ROBOT- toRECT-coordinates.
1 • Velocity optimized running
Velocity optimized running gives a smoother velocity at the cost of the path quality. The
robot will have the same path performance as old robots, without the SPF-function. Normal
zero zone will be installed when velocity optimizing is installed. The motion is not stopped
when changing from ROBOT- to RECT-ccordinates.
5.2.4.23B
CUR/ WIR (Arc welding software)
Description
Define CURRENT or WIRE SPEED to be used as welding parameters.
Menu
OPTION + CUR/WIR
Guide text
CUR (0)/ WIRE SPQ)
Def. range
0 = Current is used
1 = Wire speed is used
Default value
0, i.e. current
Note
If the parameter is changed, it is necessary to activate the system parameters
before changing the corresponding output, (CURRENT or WIRE SP), see 5.2.4.24.
INSTALLATION S3
5:49
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