2-77How to Operate Sequencer Direct
8Perform Sequencer Direct
(5) Speed: Spd
Specify the speed of the end when the robot moves for linear interpolation. The unit is mm/s.
This value does not impact on the joint interpolation command.
When zero or 10000mm/s is specified as the speed, the robot is in the maximum speed control
mode.
The maximum speed control mode allows you to reduce the takt time by adjusting the motor speed of
robot's each axis while keeping linear track. Consequently, linear speed may change.
Actual linear speed is a value specified by override command multiplied by a speed specified by this
speed setting command.
Example: When override = 50% and speed setting = 300mm/s, actual linear speed = 0.5 x 300 =
150mm/s
(6) Shortcut/roundabout specification
There are three types of hand rotation direction below when performing a move command:
a) Shortcut specification
b) Roundabout specification
c) Move to teaching posture (Roundabout joint interpolation)
現在位置の姿勢(45度)
目的位置の姿勢(-45度)
近回り動作
遠回り動作
ﾃｨｰﾁﾝｸﾞ姿勢へ移動
移動距離が180度未満とな
る
方向へ移動します
移動距離が180度以上
とな
る
方向へ移動します
ﾃｨｰﾁﾝｸﾞ姿勢(多回転ﾃﾞｰﾀ)
の位置へ移動します
→結果的に近回り／遠回り
どちらのｹｰｽもあります
Posture of current position (45°)
Shortcut operation
Roundabout operation
Move to teaching
posture
Posture of aimed position (-45°)
Moves to the direction
which the move distance is less than
180 deg.
Moves to the direction
which the move distance is 180 deg
or more.
Moves to the position
of teaching posture
(multi-turn data)
→ Results in both cases of shortcut
and roundabout.
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