User`s guide

command can scale down these maximum rates so that the robot acceleration and/or
deceleration takes more time.
You can also define optional acceleration profiles that alter the maximum rate of
change for acceleration and deceleration (using the SPEC utility)
l The location tolerance settings (COARSE/FINE, NULL/NONULL) for the move. The
more accurately a robot must get to the actual location, the more time the move will
take. (For AdeptMotion VME devices, the meaning of COARSE/FINE is set with the
SPEC utility.)
l Any DURATION setting. DURATION forces a robot move to take a minimum time to
complete regardless of the SPEED settings.
l The maximum allowable velocity. For Adept robots, maximum velocity is factory set.
For AdeptMotion VME devices, this is set with the SPEC utility.
l The inertial loading of the robot and the tuning of the robot.
l Straight-line vs. joint-interpolated motions-for complex geometries, straight-line and
joint-interpolated paths produce different dynamic responses and, therefore, different
motion times.
Robot performance for a given application can be greatly enhanced or severely degraded by
these settings. For example:
l A heavily loaded robot may actually show better performance with slower SPEED and
ACCEL settings, which lessens overshoot at the end of a move and allows the robot to
settle more quickly.
l Applications such as picking up bags of product with a vacuum gripper do not require
high accuracy and can generally run faster with a COARSE tolerance.
Motion Modifiers
The following instructions modify the characteristics of individual motions. These instructions
are summarized in Motion Control Operations.
NOTE:The instructions listed below with an asterisk (*) can take ALWAYS as an
argument.
l ABOVE/BELOW
l ACCEL
l BREAK
l COARSE/FINE*
l CPON/CPOFF
l DURATION*
l FLIP/NOFLIP
l LEFTY/RIGHTY
l NOOVERLAP/OVERLAP*
l NULL/NONULL*BRAKE
Motion Control Instructions
V+Language User's Guide, v17.0
Page 186