What does the FINE tag define?

• A. Root instruction type.
• B. Positioning accuracy setting that ranges 0-3, referencing pulse count accuracy rather than dimensional mm.
• C. The delay before execution.
• D. Error handling mode.

Answer: (B)

The FINE tag sets how tightly the robot should settle at the end of a move by using the encoder’s pulse count as the unit of error. It specifies a final-position tolerance on a scale from 0 to 3, where the value determines how many pulses of the servo encoder are allowed as the remaining deviation. In practical terms, higher values give a finer, more precise final position (smaller final error) but can take longer to reach and settle, because the system insists on a closer match to the target. This setting is about final positioning accuracy in pulse counts, not about timing delays, error handling, or the type of instruction itself.