Motion Control Instructions l The location tolerance settings (COARSE/FINE, NULL/NONULL) for the move. The more accurately a robot must get to the actual location, the more time the move will take. l Any DURATION setting. DURATION forces a robot move to take a minimum time to complete regardless of the SPEED settings. l The maximum allowable velocity. For Omron Adept robots, maximum velocity is factory set. l The inertial loading of the robot and the tuning of the robot. l Straight-line vs. joint-interpolated motions-for complex geometries, straight-line and joint-interpolated paths produce different dynamic responses and, therefore, different motion times.
Robot performance for a given application can be greatly enhanced or severely degraded by these settings. For example: l A heavily loaded robot may actually show better performance with slower SPEED and ACCEL settings, which lessens overshoot at the end of a move and allows the robot to settle more quickly. l Applications such as picking up bags of product with a vacuum gripper do not require high accuracy and can generally run faster with a COARSE tolerance. Motion Modifiers The following instructions modify the characteristics of individual motions. These instructions are summarized in Motion Control Operations. NOTE:
The instructions listed below with an asterisk (*) can take ALWAYS as an argument. l ABOVE/BELOW l ACCEL l BREAK l COARSE/FINE* l CPON/CPOFF l DURATION* l FLIP/NOFLIP l LEFTY/RIGHTY l NOOVERLAP/OVERLAP* l NULL/NONULL*BRAKE l SINGLE/MULTIPLE* l SPEED* eV+Language User's Guide, v2.x, 18318-000 Rev A Page 122