Denso RC5 Dokumentacja Pobierz pdf (Strona 115)

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Chapter 4 Speed, Acceleration and Deceleration Designation

4-1

4.1 External Speed and Internal Speed

There are external speed and internal speed for VS series robots.

The external speed is the speed set from the teach pendant or an external

device prior to execution of a program.

The internal speed is the speed set with a command in a program.

4.2 Speed Designation

The product of external speed and internal speed determines the actual speed

of robot motion.

For example, if the following conditions are set,

external speed: 70%

internal speed: 30%

the expression below is obtained.

Actual speed = maximum speed × 0.7 × 0.3

The actual speed is 21% of the maximum speed.

If you change the internal speed using the SPEED command in a program,

internal acceleration and internal deceleration are also set. The internal

acceleration and internal deceleration the internal speed squared and divided

by 100.

The JSPEED command changes the internal axis speed. If you change the

internal axis speed, internal axis acceleration and internal axis deceleration

also change. Internal axis acceleration and internal axis deceleration are the

internal axis speed squared and divided by 100.

4.3 External Acceleration, External

Deceleration, Internal Acceleration and

Internal Deceleration

Acceleration and deceleration are both classified into external acceleration/

deceleration and internal acceleration/deceleration.

External acceleration and external deceleration are set with the teach pendant

or an external device prior to execution of a program.

Internal acceleration and internal deceleration are set with a command in a

program.

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