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ID : 1610
If Acceleration Affects Pass Motion Path
DENSO robot automatically sets the square of speed divided by one hundred for acceleration and deceleration when speed is set.
If a SPEED command is used, acceleration and deceleration is set in the same manner as above.
If the robot executes a pass motion by using the automatically set acceleration, its motion path is always constant. The figure below shows an example when the speed is set to 60% and 80%.
When setting acceleration, be sure to check that there is no danger of collision due to the change of pass motion path.
If arbitrary acceleration is set, the motion path may change. The figure below shows an example of 60% speed with both 100% and 10% acceleration and deceleration.
If an instantaneous stop is executed during deceleration of the pass motion and the motion is restarted, the robot moves to the position of the next step command value. Therefore, exercise due care if speed, acceleration, and deceleration are low.
ID : 1610