When corner rounding is desired, users can select between two different algorithms to effect it. When Speed is the selected Accuracy Type or mode, the severity of the corner rounding effect is a function of the deceleration time. In the case of straight-line motion, if the accuracy value is set to 100%, then motion to the next point begins at the start of the deceleration profile, i.e., the robot does not decelerate. This produces the maximum radius for corner rounding. If the Accuracy Value is set to 50%, then motion to the next point begins when half of the deceleration time has elapsed, i.e., the robot will decelerates for half of the time required to come to a complete halt, and then it starts the next motion statement. If the accuracy value is set to 0%, then the move uses the standard acceleration/deceleration profile. When the Distance is the selected Accuracy Type, the Accuracy Value defines the radius of a virtual sphere, centered at the position to which the TCP is being moved. The corner-rounding motion begins when the robot's TCP reaches any point on this virtual sphere. Therefore, when the value of distance is non-zero, the robot's TCP will never reach the programmed position. When you have set Flyby Mode = Off, you can still set the Accuracy Type and an Accuracy Value. The system remembers these values, but does not use them until you set Flyby Mode = On. | ||||||||||