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4-153 Detailed explanation of command words

4MELFA-BASIC IV

Accel (Accelerate)

[Function]

Designate the robot's acceleration and deceleration speeds as a percentage (%).

It is valid during optimum acceleration/deceleration.

* The acceleration/deceleration time during optimum acceleration/deceleration refers to the optimum time

calculated when using an Oadl instruction, which takes account of the value of the M_SetAdl variable.

[Format]

[Terminology]

1 to 100(%). Designate the acceleration/deceleration to reach the maximum speed from

speed 0 as a percentage. This can be described as a constant or variable. A default value

of 100 is set if the argument is omitted. A value of 100 corresponds to the maximum rate

of acceleration/deceleration. Unit: %

Specify the acceleration/deceleration rate when moving upward in an arch motion due

to the Mva instruction.

A default value of 100 is set if the argument is omitted. It is possible to specify the argument

either by a constant or variable.

Specify the acceleration/deceleration rate when moving downward in an arch motion due

to the Mva instruction.

A default value of 100 is set if the argument is omitted. It is possible to specify the argument

either by a constant or variable.

[Reference Program]

1 Accel 50,100 ' Heavy load designation (when acceleration/deceleration is 0.2 sec-

onds, the acceleration will be 0.4, and the deceleration will be 0.2 sec-

onds).

Mov P1

3 Accel 100,100 ' Standard load designation.

4 Mov P2

5 Def Arch 1,10,10,25,25,1,0,0

6 Accel 100,100,20,20,20,20 ' Specify the override value to 20 when moving upward or downward due

to the Mva instruction.

7 Mva P3,1

Accel[] [<Acceleration rate>] [, <Deceleration rate>]

,[<Acceleration rate when moving upward>], [<Deceleration rate when moving upward>]

,[<Acceleration rate when moving downward>], [<Deceleration rate when moving down-

ward>]

Mitsubishi MELFA CR1D User Manual

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