4MELFA-BASIC IV
Detailed explanation of command words 4-228
(6) If optimum acceleration/deceleration control (specified with the Oadl command or ACCMODE parameter) is
disabled, it is automatically enabled by executing the MvTune command. Furthermore, if OadleOff is executed
after executing the MvTune command, optimum acceleration/deceleration control only will be disabled. (The
operating mode will not change.)
(7) Depending on the robot model or program, there may be times when the effect is not clear even after changing
the operating characteristics mode.
(8) With high-speed positioning mode, the vibration level when decelerating and stopping is sometimes greater
when compared to standard mode. Select standard mode if there is any interference.
(9) Trajectory priority mode has been adjusted so that the optimum effect is obtained with operating speeds in the
mid to low speed range. Consequently, when performing an operation such as drawing a small circle at high
speed, the robot may vibrate more than when in standard mode. In such a case, use the Spd command and
lower the speed until the robot no longer vibrates.
(10) This command does not function for the jog operation.
[Related instructions]
Loadset (Load Set)
、 Oadl (Optimal Acceleration)、 Prec (Precision)
[Related parameter]
ＡＣＣＭＯＤＥ、 ＨＮＤＤＡ Ｔ ０～８、 ＷＲＫＤＡ Ｔ ０～８
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