4-197 Detailed explanation of command words
4MELFA-BASIC IV
The RH-A/RH-S series and the RV-SD/RH-SDH series robots use different
encoder resolutions (number of pulses) for joint axes. If the value of <No. of
pulses> of the Fine instruction is the same, the RV-S/RH-S series, which normally
has higher encoder resolution (number of pulses), takes longer to complete posi-
tioning. For this reason, if robots are replaced and the robot model is changed from
the RV-A/RH-A series to the RV-S/RH-S series, the time it takes for the Fine
instruction to complete positioning may change.
In such cases, adjust the value of <No. of pulses> of the Fine instruction.
CAUTION
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