Mitsubishi MELFA CR1D User Manual

4-229 Detailed explanation of command words
4MELFA-BASIC IV
Oadl (Optimal Acceleration)
[Function]
Automatically sets the optimum acceleration/deceleration according to the robot hand's load state (Optimum
acceleration/deceleration control).
By employing this function, it becomes possible to shorten the robot's motion time (tact).
The acceleration/deceleration speed during optimum acceleration/deceleration can be calculated using the
following equation:
Acceleration/deceleration speed (sec) = Optimum acceleration/deceleration speed (sec) x Accel instruction
(%) x M_SetAdl (%)
* The optimum acceleration/deceleration speed is the optimum acceleration/deceleration speed calculated
when an Oadl instruction is used.
[Format]
[Terminology]
<On / Off> ON : Start the optimum acceleration/deceleration speed.
OFF : End the optimum acceleration/deceleration speed.
[Reference Program]
1 Oadl On
2 Mov P1 ' Move with maximum load.
3 LoadSet 1ÅC1 ' Set hand 1 and workpiece 1.
4 Mov P2 ' Move with hand 1 + workpiece 1 load.
5 HOpen 1 '
6 Mov P3 ' Move with hand 1 load.
7 HClose 1 '
8 Mov P4 ' Move with hand 1 + workpiece 1 load.
9 Oadl Off
*When parameter HNDHOLD1 is set to 0, 1
[Explanation]
(1) The robot moves with the optimum acceleration/deceleration according to the hand conditions and work-
piece conditions designated with the LoadSet command.
(2) The workpiece grasp/not grasp for when the hand is opened or closed is set with parameter HNDHOLD
1 to 8.
(3) Initial setting of Oadl can be changed by the ACCMODE parameter. (Refer to Page 351, "Table 5-2: List
Signal parameter" )
(4) Once Oadl is On, it is valid until Oadl Off is executed or until the program End is executed.
(5) Depending on the conditions of the hand and/or workpiece, the motion time may become longer than
usual.
(6) It is possible to perform the optimum acceleration/deceleration operation by using the LoadSet and Oadl
instructions, and by setting the HNDDAT1(0) through 8 and WRKDAT1(0) through 8 parameters to
appropriate values. (Refer to Page 377, "5.16 Hand and Workpiece Conditions (optimum acceleration/
deceleration settings)")
(7) The value of the acceleration/deceleration speed distribution rate in units of axes are predetermined by
the JADL parameter. This value varies with models in the S series. Refer to the JADL parameter.
Oadl[]<On / Off>

Mitsubishi MELFA CR1D Specifications

General

Brand	Mitsubishi
Model	MELFA CR1D
Category	Controller
Language	English