Mitsubishi Electric CR800 Series, Special Specifications Manual, Page: 36 / 156

2-23
２ Robot arm
Table 2-7 ： Area in which acceleration/deceleration speed is compensated
Fig.2-9 ： Automatic compensation of acceleration/deceleration speed
[Supplementary explanation 1]: The setting which shortens execution time
The execution time can be improved by using the following methods.
1) Perform continuous path operation using the Cnt command.
2) Control the optimum acceleration/deceleration using the Oadl command.
3) Control the optimum speed using the Spd command.
4) Setting a larger value in the optimum acceleration/deceleration adjustment rate parameter: JADL. (Maxi
-
mum 100)
The moving time can be shortened by setting a larger value in the optimum acceleration/deceleration adjustment rate
parameter (JADL). In this robot, the acceleration/deceleration speed is initialized to allow continuous moving with a
short wait time (setting of B in the
Fig. 2-10 ).
This setting is suited for continuous operations that have a short tact time, such as palletizing work.
Conversely, if quick moves (short moving time) are required, such as L/UL work on machined parts, the acceleration/
deceleration speed can be increased by initial setting (setting of A in the
Fig. 2-10 ).
However, please note that some setting values of acceleration/deceleration speed tend to cause overload and overheat
errors. In such a case, extend the wait time, reduce the acceleration/deceleration speed, or decrease the moving speed.
Fig.2-10 ： Relationship between Acceleration/deceleration Speed and Tact Time (Conceptual Drawing)
J3 axis stroke (mm)
Compensation area
(P2 to P3)
Stroke length
P1
(Upper end)
P2
(Lower end)
120
(With optional bellows set)
-480 -600 -600 ～ 510
150 -450 -600 -600 ～ 510
0
-450
-510 -600
シャフト位置（mm）
-570
(%)
加減速度割
合
100
36
24
J3 axis (Z)
stroke
120mm/150mm
A
cceleration/
dece
lera
-
ti
on speed ra
tio(
%
)
Shaft position (mm)
(Standard Acceleration/deceleration speed)
* J3 axis (Z) stroke 120mm robot has an
optional bellows set.
Tact time/
1 cycle
Operation time
Wait time
B
A
Increased acceleration/deceleration speed
x Accel instruction [%] x parameter JADL [%]
Acceleration/deceleration speed [m/sec
2
]
= optimum acceleration/deceleration speed [m/sec
2
]