Good night,
I have an application with an R2000 IB / 125 L robot and R30IA controller.
How can I during the execution of a program change the acceleration and deceleration of the movements?
What kind of commands are there in fanuc?
Good night,
I have an application with an R2000 IB / 125 L robot and R30IA controller.
How can I during the execution of a program change the acceleration and deceleration of the movements?
What kind of commands are there in fanuc?
At the end of the movement, use the ACC command for acceleration. I have never known there to be a decel command.
The ACC expression, along with the number that goes with it... affects both the acceleration and deceleration ramps in the Fanuc robot, as it may pertain to a particular position instruction.
Don't forget to check or set the unitless scale for your ACC expression in MENU- SYSTEM- Config window, Max of ACC instruction and MIN of ACC instruction.
I agree with Cobenson. I am not aware of any way to specify deceleration ramp only using normal TP Programming language.
Thank's for your answer's!
Normally do you use?
Can anyone send my code examples?
Just a note, ACC Can go up to 150
First, check or set the scale in MENU-System-Config window: Max. of ACC Instruction and Min. of ACC Instruction.
Let us say you have chosen a scale (a range) of 50 to 150
12: L P[4] 2000 mm/sec CNT 100 ACC 150
reach speed with strongest acceleration/deceleration ramp
Or
17: L P[6] 1500 mm/sec CNT 100 ACC 50
reach speed with weakest acceleration ramp