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
- Robot model related to this function : M,H series(will be extended in the other series)
- Motion command related to this function : movej, movejx, movel, movec, moveb
- 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)
- When set above acceptable weight of robot model, this function is activated automatically(DR_ON, ratio=1.0)
Models that can exceed the allowed weight for each robot model
Model
Allowed Weight [kg]
Extended Weight in this mode [kg]
M0617
6
8
M1013
10
12
M1509
15
17
- 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)
- ex) M1013, 12kg tool attached: refer to 10kg tool payload c.o.g. graph
- Payload diagram: User manual / PART 3. Installation Manual / Product Introduction / Robot Specifications / Max. Payload within operating space
Caution
- Changing this function's activation or not, ratio is possible only using this command. After terminating program, setting values(mode, ratio) are maintained.
- 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.
- 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.
- When passing blending sections during motion, It may occur that allowable torque is exceeded.
Parameters
| 인수명 | 자료형 | 기본값 | 설명 |
|---|---|---|---|
mode | int | DR_ON |
|
| ratio | int | 1.1 |
|
Return
| Value | Description |
|---|---|
0 | Success |
| Negative value | Error |
Exception
| 예외 | 설명 |
|---|---|
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
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)