Mitsubishi Electric MELFA CR800 Series Special Specifications Manual page 36

２ Robot arm
Table 2-7 ： Area in which acceleration/deceleration speed is compensated
Stroke length
120
(With optional bellows set)
150
J3 axis (Z)
stroke
(Standard Acceleration/deceleration speed)
加
100
減
速
度
割
36
合
24
(%)
0
-510
-450
Shaft position (mm)
シャフト位置（mm）
Fig.2-9 ： Automatic compensation of acceleration/deceleration speed
[Supplementary explanation 1]: The setting which shortens execution time
The execution time can be improved by using the following methods.
1) Perform continuous path operation using the Cnt command.
2) Control the optimum acceleration/deceleration using the Oadl command.
3) Control the optimum speed using the Spd command.
4) Setting a larger value in the optimum acceleration/deceleration adjustment rate parameter: JADL. (Maxi -
mum 100)
The moving time can be shortened by setting a larger value in the optimum acceleration/deceleration adjustment rate
parameter (JADL). In this robot, the acceleration/deceleration speed is initialized to allow continuous moving with a
short wait time (setting of B in the
This setting is suited for continuous operations that have a short tact time, such as palletizing work.
Conversely, if quick moves (short moving time) are required, such as L/UL work on machined parts, the acceleration/
deceleration speed can be increased by initial setting (setting of A in the
However, please note that some setting values of acceleration/deceleration speed tend to cause overload and overheat
errors. In such a case, extend the wait time, reduce the acceleration/deceleration speed, or decrease the moving speed.
Fig.2-10 ： Relationship between Acceleration/deceleration Speed and Tact Time (Conceptual Drawing)
2-23
J3 axis stroke (mm)
P1
(Upper end)
-480
-450
120mm/150mm
-570 -600
* J3 axis (Z) stroke 120mm robot has an
Fig. 2-10).
Tact time/
1 cycle
Acceleration/deceleration speed [m/sec
= optimum acceleration/deceleration speed [m/sec
x Accel instruction [%] x parameter JADL [%]
P2
(Lower end)
-600
-600
optional bellows set.
O peration time
Wait time
B
Increased acceleration/deceleration speed
]
2
]
2
Compensation area
(P2 to P3)
-600 ～ 510
-600 ～ 510
Fig. 2-10).
A