5.10. Playback speed automatic adjustment
5.10. Playback speed automatic adjustment
At low temperatures in winter, friction in the driving part may increase during the initial operation, causing errors. As such, the playback speed automatic adjustment function allows the robot to operate at a low playback speed (warm-up effect), helping eliminate error-causing factors and carry out the work continuously. Before setting the function, it is first required to check whether the work output of the program to be used is independent of any change in the playback speed. You can set whether to execute the function in the condition setting.
n Disable
Does not execute the playback speed automatic adjustment function
n Enable
Executes the playback speed automatic adjustment function
When the setting is “Playback speed automatic adjustment = Enable,” the “F2” button will be activated to allow you to enter the menu for detailed function settings.
Menu for setting the playback speed automatic adjustment
n Playback speed automatic adjustment function
Selects whether to use the function
n Conditions for low-speed operation
Set the condition to be applied during low-speed operation.
- Low-speed operation speed: Designates the rate to be used for low-speed operation
- Low-speed operation time: Sets the time to be maintained for low-speed operation. Sets the duration by including the time for restoring to the previous speed (= low-speed operation time/3)
n Criteria for applying the function
Set the references for the activation of the function.
- Robot nonoperation time: This refers to the time when the robot does not operate and includes the period of operations, except for automatic and jog operations, the stop time of the robot because of a delay or external signal during automatic operation, the time of controller power off, the time of motor off, and the time of activation of the power-saving mode. The function will be activated if the actual time the robot has not functioned is greater than the set robot nonoperation time.
- Encoder temperatures: Set the reference encoder temperatures that will activate the function. This will be enabled when the current temperatures are lower than the reference temperatures. If the current temperatures become higher than the reference temperatures because of low-speed operation, the playback speed will be changed to the previous speed, and the function will be ended.
l The playback speed automatic adjustment function does not apply to functions for which a constant speed must be maintained. Such functions include the system variable _SPDRATE, sensor synchronization, and arc.
l Even after the set low-speed operation time, if the current temperature of an encoder is below the reference temperature, the low-speed operation will be maintained. After that, if the encoder temperature satisfies the reference temperature, the speed will be restored to the previous speed.
l Restoration to the previous speed from low-speed operation speed will occur linearly over time (low-speed operation time/3). The previous speed refers to the automatic operation speed ratio inputted, as described in Phrase 5.6, before setting the function. The automatic operation speed ratio changed after the function is set will not be stored as the previous speed.
