User`s guide

6. The SPEL+ Language
6.16.5 Joint motion
Command Description
JTran
The JTran command can be used to move one joint of the robot to position
specified in degrees or millimeters, depending on the joint type. The spee
d
and acceleration are the same as for point to point motion commands.
PTran
The PTran command can be used to move one joint of the robot to an
encoder pulse position. The speed and acceleration are the same as for point
to point motion commands.
Pulse
The Pulse command can be used to move all joints of the robot to encode
r
pulse positions. The speed and acceleration are the same as for point to
point motion commands.
6.16.6 Controlling position accuracy
Use the Fine command to adjust position accuracy for the end of a motion command. Fine
specifies, for each joint, the allowable positioning error for detecting completion of any
given move. The lower the Fine settings, the more accurate the final position of the joint,
which can cause slower performance. Conversely, large Fine settings can speed up motion
commands, but position accuracy will decrease. For many applications, the default
settings can be used.
6.16.7 CP Motion Speed / Acceleration and Tool Orientation
When you attempt to change only the tool orientation while keeping the tool tip of the
robot arm at the specified coordinate point or when the tool orientation variation is larger
than the travel distance of the tool tip, moving the arm by normal CP motion commands
will cause an increase in the variation of speed, acceleration and deceleration of tool
orientation. In some cases, an error will occur.
To prevent these situations, add the ROT parameter to the CP motion commands. The arm
will be moved based on the specified angular velocity and acceleration/deceleration of the
main axis regarding the orientation variation.
The angular velocity and acceleration/deceleration of the main axis regarding the
orientation variation should be specified with the SpeedR and AccelR commands in
advance.
For example:
SpeedR 50 ' degree/sec
AccelR 200, 200 ' degree/sec
2
Move P1 ROT
The tool orientation variation is normally comprised of orientation variations of more than
one rotation axis.
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NOTE
The SpeedR and AccelR parameters specify the angular velocity and acceleration/
deceleration of the main axis regarding the orientation variation. Therefore, actual angular
velocity and acceleration/deceleration of the orientation variation are different from the
parameters except for the case where the rotation axis of the orientation is only one.
While the motion command with the ROT parameter is executed, the specified SpeedS and
AccelS parameters are invalid.
The ROT parameter can be used with the following motion commands:
Move BMove
Arc TMove
Arc3 Jump3CP
EPSON RC+ 5.0 (Ver.5.4) User's Guide Rev.4 175