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Chapter 3 Robot Motion

3-5

3.2.5 Execution Time Difference among Pass Motion, End

Motion and Encoder Value Check Motion

Among the three motions, the pass motion has the fastest execution time,

followed by the end motion and finally the encoder check motion.

The pass motion starts the next acceleration motion during deceleration time

before it reaches P2 as is shown in Fig. 3-9. Therefore, the execution time is

shorter than the end motion, which executes deceleration and acceleration

individually.

In the encoder value check motion, because the robot strictly checks reach of

the destination position with the encoder value, it requires more time to

eliminate servo deviation than the end motion does.

Fig. 3-9 Execution Time of Pass Motion, End Motion and Encoder Value

Check Motion

The pass motion is fastest

because it overlaps

deceleration and

acceleration at P2.

The encoder value check

motion takes longer time

than the end motion,

because it executes

deceleration and position

check at P2 and P3.

The end motion executes

deceleration and

acceleration individually at

P2.

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