Motion Instructions: Difference between revisions
→Termination Type
Line 170:
This determines what to do when approaching the destination point given in the motion instruction.
* Fine – When completing a motion instruction, the robot will reach each point. If the next point is at an angle relative to the path to reach the current point, the robot will accelerate and decelerate as necessary to ensure the point is actually reached
** For a very short period of time, the robot will have come to a complete stop. For this reason, most FINE instructions take additional time and are hard on the robot's components.
* Continuous (CNT) – When completing a motion instruction, the robot will decelerate as it approaches the point and "round off" the corner as it goes from point to point as a percentage. The number following the CNT option represents the percentage of speed it is allowed to slow to, to make a "best effort" to go toward the point. Continuous motion is healthier for the robot and the robots tools, as acceleration is more spread out.
| |||