COARSE program instruction COARSE program instruction Syntax COARSE tolerance ALWAYS Function Enable a low-precision feature of the robot hardware servo. Usage Considerations Only the next robot motion will be affected unless the ALWAYS parameter is specified. If the tolerance parameter is specified, its value becomes the default for any subsequent COARSE instruction executed during the current execution cycle (regardless of whether ALWAYS is specified). FINE 100 ALWAYS is assumed whenever program execution is initiated and when a new execution cycle begins. The COARSE 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 COARSE instruction causes an error. Parameters tolerance Optional real value, variable, or expression that specifies the percentage of the standard coarse tolerances that are to be used for each joint of the robot attached by the current execution task. See the Details section for default values. ALWAYS Optional qualifier that establishes COARSE as the default condition. That is, COARSE will remain in effect until disabled by a FINE instruction. If ALWAYS is not specified, the COARSE instruction will apply only to the next robot motion.
Details This instruction enables a low-precision feature in the robot motion servo so that larger errors in the final positions of the robot joints are permitted at the ends of motions. This allows faster motion execution when high accuracy is not required. Lower precision is sometimes required in belt tracking applications when the constant motion of the robot prevents the servos from settling to high precision. eV+Language Reference Guide, v2.x, 18319-000 Rev A Page 127