ACCURACY
ACCURACY distance ALWAYS FINEFunction
Sets the accuracy when determining the robot pose.
Parameter
Distance
Specifies the distance of accuracy range in millimeters.
ALWAYS
If this parameter is entered, the accuracy setting remains valid until the next ACCURACY
instruction is executed. If not entered, the accuracy setting is valid only for the next motion
instruction
FINE
If this parameter is entered, the robot pose is determined only when the current values match the
taught pose. If omitted, the pose is determined as if the command value matches the taught pose
Explanation
When the parameter ALWAYS is entered, all the proceeding motions are controlled by the
accuracy set by this instruction. The default accuracy setting is 1 mm
There is a limit to the effect of the accuracy setting, since in AS system the accuracy check is not
started until the robot decelerates as it approaches the taught pose. (See also 4.5.4 Relation
between CP Switch and ACCURACY, ACCEL, and DECEL Instructions.)
Example
ACCURACY 10 ALWAYS {*The accuracy range is set at 10 mm for all motion instructions
after this instruction*}[NOTE]
When the accuracy is set at 1 mm, the robot sets the pose after each motion instruction,
coming to a pause in between the motion segments. To assure CP motion, set the
accuracy range greater
Setting the accuracy range too small may result in non-coincidence of the axes
The accuracy set by this instruction is not the accuracy for repetition but for
positioning the robot; therefore do not set values of 1 mm or less.