Hi, I understand the function of the fine/ coarse commands in "ACE"/ V+. But I have a question about the effect of the Break command on the motion.
I had someone tell me, that if you use the the "Break" command, the robot with reach the taught postion ( precision point) the most accurately.
Does not matter if robot is in coarse or fine mode.
My understanding of the break command was mainly to do with timing of signals or I/O.
Thoughts?
Adept's motion control fine/coarse
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bozz -
May 22, 2018 at 2:26 PM -
Thread is marked as Resolved.
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The BREAK command forces the TCP to stop and null at a taught point within a certain 3-dimensional repeatability tolerance.
FINE will be a small tolerance.
COARSE will be a larger tolerance.Example:
- A path is programmed with a series of taught points to form a zig-zag pattern with sharp vertices.
- Each MOVE command has a BREAK command after it.
- The TCP will move to and null at each taught point, stopping briefly at each vertex of the zig-zag.
- If FINE, then the nulled point will be with a tight 3-dimensional tolerance.
- If COARSE, then the nulled point will be with a "looser" tolerance.
- If each MOVE command does NOT have a BREAK, then the TCP path will have rounded corners and flow through the series of points without pausing.
I don't recall for certain if the BREAK effect is the same for FINE or COARSE. This ***should*** be in the Adept V+ Language Reference documentation. It has been many years since I was a V+ hack, but my guess would be that the tolerance of the nulled location is dependent upon the FINE or COARSE setting.
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Thank you,
I read the V+ manual for all three command, break, fine and coarse.
break does not mention anything about tolerance setting.
Fine and coarse do not mention anything about what happens when using the break command.it's has been almost 20 years since I was deeply involved in programming with V+, so just getting my feet wet again.
also when using the Fine command, I can set a value of 1 to 100, then manual is not very clear, but I seem to remember, Fine 10, is more Accurate than Fine 100. As it is based on percentage of encoder tolerance.
Correct me if I am wrong.Thanks Again
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From my copy of V+ Language Reference Guide, it states if you set motion to FINE or COARSE, then the nulling tolerance is by default 100% of the FINE or COARSE tolerance. Default values = 100%.
Lower settings (e.g., 10%) mean 10% of the normal FINE or COARSE tolerance.
Settings can be defined > 100%, too.The NULL & NONULL functions are used to set if motion is nulled out at the end of each move to a location.
The V+ Language User's Guide document stated that the FINE & COARSE values are defined with the SPEC utility. Perhaps you can access SPEC and see what are the default values.