Mitsubishi Electric CR750-Q Instruction Manual page 468

5Functions set with parameters
Parameter
Optimum JADL
acceleration/
deceleration
adjustment rate
Acceleration-and- MAPMODE
deceleration
optimization
pattern selection
* Only for RH-F
series (Without
RH-3FHR series)
Optimum speed OPTOVC
control adjustment
coefficient
*Available soft-
ware versions
S/W Ver.
F-Q series:
R5 or later
F-D series:
S5 or later
Speed optimiza- SPDOPT
tion interpolation
functional switch
*Available robot
RH-3FHR series
5-448 Movement parameter
Parameter
No. of arrays
name No. of characters
Real value 8 Set the initial value (value at power ON) of the acceleration/deceleration
Integer 1
Real value 1 Set the adjustment coefficient for the optimum speed control.
Integer 1
Details explanation
adjustment rate (%) during optimum acceleration/deceleration. It is the
rate applied to the acceleration/deceleration speed calculated by
optimum acceleration/deceleration control. In the RV-SD series, high-
speed operation can be performed by setting this value to a larger
value. However, if the robot is operated continuously for a certain period
of time at high speed, overload and overheat errors may occur. Lower
the setting value if such errors occur.
In the RV-SD series, the initial values have been set so as to prevent
overload and overheat errors from occurring.
They are applied to both the deceleration and acceleration speeds.
* What is an overload error?
An overload error occurs when the load rate reaches a certain
value in order to prevent the motor from being damaged by heat
from high-speed rotation.
* What is an overheat error?
An overheat error occurs when the temperature reaches a
certain value in order to prevent the position detector from being
damaged by heat from high-speed rotation.
Note) This function is valid only in the RV-SD series.
In RH-F series (without RH-3FHR series), choose the standard
acceleration-and-deceleration rate or the high acceleration-and-
deceleration rate for the acceleration-and-deceleration optimization
function corresponding to the height of the shaft (J3 axis).
0: Standard acceleration-and-deceleration rate (initial value), 1 : High
acceleration-and-deceleration rate.
*Initial setting is the standard acceleration-and-deceleration rate,
and vibration (remains vibration to include) is suppressed to the
minimum. When this vibration does not affect the robot's
operations, the high acceleration-and-deceleration rate can be
chosen, and the robot can be operated at high speed. Refer to
the separate "standard specification" for details of the
acceleration-and-deceleration rate.
Setting range: 0.30 to 1.00
The optimum speed control is a function to use the Spd command to
designate the optimum speed for the linear and the circular arc
interpolation movements that do not specify the speed by themselves.
Increasing the setting value enables the robot to operate in high speed.
However, when the operation posture of the robot is largely changed
near the position such as a singular point, a speed overlimit error occurs
easily.
In such cases, reducing the setting value suppresses the occurrence of
the speed overlimit error but lowers the operation speed of the robot.
* Speed overlimit error
The error number is H213n. (The letter "n" indicates the axis number 1
to 8.)
This error occurs when the setting value of the speed command to the
motor exceeds the permissible value.
Set enable/disable of speed optimization interpolation function
just after the power supply turned on
1: Enable
(Enable the speed optimization interpolation function at the
power on)
0: Disable
(Disable the speed optimization interpolation function at the
power on)
If the value of this parameter is 1 or 0, it is possible to switch
between enabling and disabling the speed adjustment interpola-
tion function using the SpdOpt instruction in a program.
Note) This function is supported by limited models of RH-3FHR
series.
Factory setting
Setting value for
each mechanism
0
It varies with
models.
RH-3FHR series is
1
(Other model are 0)