Optimal Speed Control Function

This function sets proper speed and acceleration according to the mass of payload and the posture of the robot. Four control sets of motion optimization are available for selection as listed in the table below.

Control sets of Optimal Speed Control

Control set 0

This control set is the default when the controller is booted. Set the maximum speed and maximum acceleration of PTP motion and CP motion according to the robot load condition value.

For cycle time calculation in designing, refer to the positioning time in the instruction manuals of the relevant series robots.

Control set 1

Set the maximum speed and maximum acceleration for the axes in PTP motion according to the load condition value of the robot and the robot posture in motion. This is the same as that of control set 0 in CP motion.

Using Control set 1

To reduce the motion time in PTP motion, select control set 1.

Check the motion time for control set 1 in machine lock operation.

Precautions for Using Control set 1

• An overload error or excess deviation error may occur in motion. To determine the load ratios, use the overload estimation value on the pendant during adjustment.

  Error	Error code(* axis number(1 to 8))
  Overload error	832040B*, 832040C*, 832040D*, 832040E*
  Excess deviation error	8440451*

• If an overload error occurs, adjust the motor load by setting appropriate values of the timer, programmed speed, and acceleration.
• If an excess deviation occurs, adjust the speed and acceleration.
• Depending on the motion speed, the pass locus may change by approximately 20 mm. Therefore, because the pass motion near an obstacle may possibly interfere with the obstacle, execute the motion in control set 0.
• To run a robot by using extended-joint option for target position, the robot behavior differs depending on the setting value of the user parameter 225 "Motion optimization Additional joint sync compatible mode". To run a robot just the same as the behavior which is achieved by the robot controller version 2.4.0, select [1 : Less than Ver.2.4.0] (This function is available in version.2.4.* or higher.)

Control set 2

Set the maximum speed and maximum acceleration in CP motion according to the load condition value of the robot and the robot figure in motion. This is the same as that of control set 0 in PTP motion.

Using Control set 2

Use control set 2 in the following two cases.

• To reduce the motion time in CP motion
  Because the robot may possibly and automatically reduce the speed during motion, check the motion time in machine lock operation.
• If control set 0 or 1 is selected, an error of command speed limit over occurs in CP motion. In control set 0 or 1, if the path passes near a singular point or the vicinity of the restricted space limit, an error of command speed limit over may occur, stopping the robot. In control set 2, however, the speed automatically falls within the command speed limit, enabling operation of the robot without the above error.

Precautions for Using Control set 2

• An overload error may occur in motion. When adjusting the speed, check the load ratio using the log function of the load estimation value on the teach pendant or check it using the log function of WINCAPSIII. If an overload error occurs, adjust the motor load by setting appropriate values of the timer, programmed speed, and acceleration.
• Depending on the motion speed, the pass locus may change by approximately 20 mm. Therefore, because the pass motion near an obstacle may possibly interfere with the obstacle, execute the motion in control set 0.
• Because the speed may change in the constant speed movement section in CP motion, perform work that requires constant speed movement in control set 0 or 1.
• Errors of command acceleration limit over and excessive deviation and command speed limit over may occur in CP motion. If such an error occurs, adjust the speed and acceleration with programmed speed and acceleration. A path shift of up to approximately 5 mm may also occur in high-speed motion. Therefore, use the robot by reducing the speed if there is an obstacle near the motion.

  Error	Error code（* axis number（1 to 8））
  Command acceleration limit over error	8420404*
  Excess deviation error	8440451*
  Command speed limit over error	8420408*, 8420409*, 842040A*

• If the robot is stopped instantaneously during speed reduction near the vicinity of a singular point, the instantaneous stop time may extend. The instantaneous stop distance, however, remains unchanged.

Control set 3

In this control set, the robot moves the same as in control set 1 in PTP motion and control set 2 in CP motion.

Restriction by Robots

For XR, SC robots and MC8, only Mode 0 or Mode 2 is available.