Hi,
Can someone please explain a CNT move vs a Fine move.
I was told the robot scans ahead of the program on cnt moves, is that true?
Thanx
CNT MOVES
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slamcity -
October 10, 2014 at 2:47 PM -
Thread is marked as Resolved.
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Hello,
Please see the attached picture.
On the left side is the FINE move: The robot starts from P1 and it decelerates to reach exactly P2 and then it goes to P3.
On the right side is the CNT100 move: The robot starts from P1 but it "passes" throught P2 without decelerating so much and then it goes to P3. This type of termination will improve your cycle time a lot. -
Thanx!!!!
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FINE moves would be used to move the robot to an exact location. As in picking or placing a part.
Fine termination motion is jerky and not desired for all positions.
CNT moves are more fluid and allow the robot to keep a constant speed to improve cycle time.
A good program will have CNT moves for most points and FINE moves when the robot needs to stop to perform a function like gripping or releasing a part. -
If CNT100 is too loose around your point, but you don't want to stop at the point, you could change the 100 for anything between 1 and 100.
The tricky things with CNT, is that the positional effect could change a lot depending of robot and controller model (difference between low and high speed execution).
Also, it is harder to synchronize action with the motion (by using Time Before or Distance Before).
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The 1-100 is the percentage of deceleration ignored.
Ive always wondered if cnt0 is the same as fine, not sure if thats allowed tho -
it is allowed, and it is not quite FINE. i am guessing that its major effect would be that it can use acceleration time 1 instead of 2. probably has some effect on the pre-execution of logic, and motion segments as well. if i am trying to get a few tenths of a second better cycle time i like to use CNT0 motions with the Retract_LD or Approach_LD.