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set_auto_acceleration_mode(mode, ratio)

Features

Check motion command's input velocity, acceleration values before operating motion command. If allowable torque is exceeded, this function adjusts motion velocity, acceleration automatically. Input value mode sets activation or not. Input value ratio sets auto correction ratio.

  1. Robot model related to this function : M series

  2. Motion command related to this function : movej, movejx, movel, movec, moveb

  3. If you don't set input value ratio, ratio is set default value 1.1. In terms of tact time, velocity and acceleration are adjusted automatically with 10% improved performance.(recommended ratio is 1.0 for stable operating)

  4. When set above acceptable weight of robot model, this function is activated automatically(DR_ON, ratio=1.0).


  1. Changing this function's activation or not, ratio is possible only using this command. After terminating program, setting values(mode, ratio) are maintained.

  2. When set above acceptable weight of robot model, It's impossible to deactivate this function through set_auto_acceleration_mode() command. But, setting values(mode, ratio) are maintained. 

  3. In some cases, It is possible to reduce tact time by setting ratio greater than 1.0. But sections that allowable torque is exceeded may occur.

  4. When passing blending sections during motion, It may occur that allowable torque is exceeded.


Parameters

Parameter Name

Data Type

Default Value

Description

mode

int

DR_ON

  • DR_OFF(0) : Deactivate mode

  • DR_ON(1) : Activate mode

ratio

int

1.1

  • Changing auto correction ratio within (0 ~ 1.2] 

Return

Value

Description

0

Success

Negative value

Error

Exception

Exception

Description

DR_Error (DR_ERROR_TYPE)

Parameter data type error occurred

DR_Error (DR_ERROR_VALUE)

Parameter value is invalid

DR_Error (DR_ERROR_RUNTIME)

C extension module error occurred

DR_Error (DR_ERROR_STOP)

Program terminated forcefully

Example

Python
set_auto_acceleration_mode(DR_ON,1.0) # Activate function, ratio=1.0
 
set_velj(60.0)
set_accj(100.0)
set_velx(250.0, 80.625)
set_accx(1000.0, 322.5)
 
home = posj(0,0,0,0,0,0)
p1 = posj(56.27, 42.77, 30.08, 0, 107.15, -56.27)
p2 = posx(501.69, 813.53, 51.47, 56.27, 180, -56.27)
p3 = posx(501.69, 813.53, 651.47, 56.27, -180, -56.27)
 
movej(home)
movej(p1,v=200, a=100)
movel(p2, v=1000, a=1000)
movel(p3, v=1000, a=1000)

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