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Detailed explanation of command words
Mv Tune (Move Tune)
[Function]
Select the robot operating characteristics from one of the following four modes. The robot operating perfor-
mance will improve by selecting the optimum operating characteristics based on the application.
Operating characteristics are optimized based on the hands and workpieces specified with the LoadSet
command. Set the correct weight, shape and barycentric position of hands and workpieces actually used.
[Format]
[Terminology]
<Operating Characteristics Mode >
The robot operating characteristics mode (1 to 4) is specified with either
a constant or numeric value variable.
1: Standard mode (default)
2: High-speed positioning mode
3: Trajectory priority mode
4: Vibration suppression mode
Table 4-18:Movement mode of MvTune
[Reference Program]
LoadSet 1,1
'Sets to hand 1/workpiece 1.
MvTune 2
'Changes the operating characteristics mode to high-speed positioning
Mov P1
'Operates in the high-speed positioning mode
Mvs P1
'Operates in the high-speed positioning mode
MvTune 3
'Changes operating mode to the trajectory priority variation
Mvs P3
'Operates in the trajectory priority mode
[Explanation]
(1) This has been adjusted to ensure the optimum characteristics based on the hand and workpiece condi-
tions specified with the LoadSet command. If the hand and workpiece conditions have not been set cor-
rectly, there is a possibility that sufficient performance will not be achieved. Refer to
Hand and Workpiece Conditions (optimum acceleration/deceleration settings)"
(2) Standard mode is specified as the default immediately after the power is turned ON.
(3) The operating characteristics mode returns to standard mode when a program is terminated (End com-
mand execution, program reset following an interruption), however, the current operating characteris-
tics mode is retained with the sub-program End command executed with the CallP command.
MvTune[]<Operating Characteristics Mode>
Operating mode
Features
1
Standard mode
(default)
This is the maker standard setting. This mode has been tuned to standard charac-
teristics that can be used for all applications.
2
High-speed
positioning
mode
This mode reduces the time it takes to reach the target position.
Use this mode where it is desired to shorten positioning time and improve work effi-
ciency.
(Applications: tracking operation, palletizing operation, etc.)
3
Trajectory prior-
ity mode
This mode improves the trajectory accuracy in an interpolating operation.
Use this mode when performing any operation in which trajectory accuracy is an
important consideration.
(Applications: sealing operation, welding operation, deburring operation, etc.)
4
Vibration sup-
pression mode
Note1)
Note1) The vibration suppression mode (MvTune 4) is usable with software version N7 (CRnQ-700
series)/P7 (CRnD-700 series) or later.
This mode is effective in suppressing vibration (resonance) of the robot arm.
Use this mode where vibration is encountered during the transfer of work.
(Applications: wafer transfer, precision component transfer, etc.)
