FINE program instruction FINE program instruction Syntax FINE tolerance ALWAYS Function Enable a high-precision feature of the robot hardware servo. Usage Considerations Only the next robot motion will be affected if the ALWAYS parameter is not specified. If the tolerance parameter is specified, its value becomes the default for any subsequent FINE instruction executed during the current execution cycle (regardless of whether ALWAYS is specified). This is the default state of the eV+ system. FINE 100 ALWAYS is assumed whenever program execution is initiated and when a new execution cycle begins.
The FINE instruction can be executed by any program task as long as the robot selected by the task is not attached by any other task. The instruction applies to the robot selected by the task. If the eV+ system is not configured to control a robot, executing the FINE instruction causes an error. Parameters tolerance Optional real value, variable, or expression that specifies the percentage of the standard fine tolerances that are used for each joint of the robot attached by the current execution task. ALWAYS Optional qualifier that establishes FINE as the default condition. That is, FINE will remain in effect continuously until disabled by a COARSE instruction.
If ALWAYS is not specified, the FINE instruction will apply only to the next robot motion. Details Enables the high-precision feature in the robot motion servo system so that only small errors in the final positions of the robot joints are permitted at the ends of motions. This produces high-accuracy motions but increases cycle times since the settling time at the end of each motion is increased. If the tolerance parameter is specified, the new setting takes effect at the start of the next motion. Also, the value becomes the default for any subsequent FINE instruction executed eV+Language Reference Guide, v2.x, 18319-000 Rev A Page 235