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set_auto_acceleration_mode()

Definiton

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.

Note

  1. Robot model related to this function : M, H 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).

  5. Refer to the table below for models that allow weight settings exceeding the permissible load for each robot model.

    1. The tool center of gravity follows the existing maximum allowed weight in the robot model's Payload diagram. (No separate Payload diagram is required because the acceleration is automatically adjusted)

    2. ex) M1013, 12kg tool attached: refer to 10kg tool payload c.o.g. graph

    3. Payload diagram: User manual / PART 3. Installation Manual / Product Introduction / Robot Specifications / Max. Payload within operating space

Model

Allowed Weight [kg]

Extended Weight in this mode [kg]

M0617

6

8

M1013

10

12

M1509

15

17

Caution

  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.

  5. For unsupported robot models, if a command is used, it will be ignored, and the code will proceed. Please exercise caution when using this feature.

Parameters

Parameter Name

Data Type

Default Value

Description

mode

int

DR_ON

  • DR_OFF(0) : Deactivate mode

  • DR_ON(1) : Activate mode

ratio

float

1.1

  • Changing auto correction ratio within 0 < ratio <=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)