134
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Signal output and smooth transition point
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WAIT waiting conditions and smooth
transition
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19.12.3.2 Smoothing type CNT_TYPE
Explain: The smoothing type CNT_TYPE extends two different smoothing types. Different
values correspond to different types. CNT_TYPE=0 is normal smoothing and 1/17 is used for small
line segments (both are speed-type smoothing. Note that the motion parameters set by
CNT_TYPE=17 are: Actual delivery speed), but at this time the unit of L_Acc becomes degree/s^2,
not a percentage), which is used for gluing, grinding, and small line applications.
19.12.4 Trim command
Explanation: The VORD instruction uses the program to adjust the program adjustment value
of the robot. It can be assigned as a constant or R[] register, and the value range is 1-100. When the
program executes to the VORD instruction, no matter which mode the robot is currently in, the
Smoothing type commands take effect downward;
The default value can be obtained through R[0]=L_VEL, etc. It is
recommended to use the default value to adjust from the low speed until
the requirement is met.
L P[1]
L P[2] CNT=50
DO[1] = ON
‘
At this time, the signal is
output at the transition point D.
J P[3]
L P[1]
L P[2] CNT=50
WAIT DO[1] = ON
‘
At this time, the signal is
output at the transition point D.
J P[3]
‘
Note: If the WAIT condition is not met, it
will stop at P[2] and wait for the condition to be
met. There is no smooth action at this time.