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Chapter 3 Robot Motion

3-7

3.2.7 If Pass Motion Effect Reduces

3.2.7.1 If Non-Motion Command Is Present after Pass Motion

If a non-motion command is present between a pass motion command and the

next motion command, the effects of reducing the execution time of the pass

motion decrease. A non-motion command is one, which does not let the robot

move.

Fig. 3-12 shows an example of when a non-motion command present between

a pass motion command and the next motion command. For example, as

shown in Fig. 3-13, the non-motion command is executed during deceleration

time of the path motion command. Therefore, the effects of reducing the

execution time of the pass motion decrease.

PROGRAM PRO13

MOVE L, @P P2

SET IO1

RESET I02

MOVE L, @0 P3

END

' Pass motion command

' Non motion command

' End motion command

Fig. 3-12 Example of Presence of Non-motion Command Between Pass

Motion Command and the Next Motion Command

Time

Speed

Time required for

non-motion

commands such as

these

Fig. 3-13 Example of Less Effect of Reducing Pass Motion Execution Time

3.2.7.2 If Path after Pass Is Short

If the speed pattern becomes a triangle, due to a short path after pass, the

pass start position delays so that pass motion ends after the path deceleration

pass finishes. Therefore, if the path deceleration prior to the pass is small as

shown in Fig. 3-14, the pass effect decreases.

Fig. 3-14 Triangle Pattern Due to Short Path After Pass

Pass section

Path before pass

Path after pass

1 2 ... 92 93 94 95 96 97 98 99 100 101 102 ... 691 692

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