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6-2
CHAPTER 6 Increasing the robot operating speed
3-
Arch motion: Making the arch position value larger
In the arch motion 2, making the arch position value larger can further shorten
the cycle time. Since the robot arm moves along a larger arc, use caution to
avoid obstacles if they are located near the arm movement path.
The arch position parameter can be set for each axis.
4- Arch motion: changing the arch positions in the program
From point P1 to P2 and then to P3:
ARCH (1) = 10000 ....X-axis arch position (pulses)
ARCH (2) = 20000 ....Y-axis arch position (pulses)
ARCH (3) = 20000 ....Z-axis arch position (pulses)
ARCH (4) = 20000 ....R-axis arch position (pulses)
MOVE P, P2, Z=0
ARCH (1) = 2000
ARCH (2) = 2000
ARCH (3) = 2000
ARCH (4) = 2000
MOVE P, P3, Z=100
Since the arch positions can be changed in the program, optimizing the arch
positions can further shorten the cycle time.
Z=0
P1
P2
P3
Z=100
Arch position: large
Arch position: small
Arch position can be set for each axis.
If the same arch position value
(pulses) is used for all axes, you
can write as "ARCH 2000".
Summary of Contents for R6Y Series
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Page 53: ...3 13 CHAPTER 3 Installation Fig 3 7 Ground terminal Ground symbol M4 Ground terminal...
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Page 150: ...4 42 CHAPTER 4 Adjustment End effector R Y X z Fig 4 13 Positions for affixing the stickers...
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Page 203: ...CHAPTER 6 Increasing the robot operating speed 1 Increasing the robot operating speed 6 1...
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Page 215: ...7 3 CHAPTER 7 Specifications 1 2 External view and dimensions Fig 7 1 R6YXH250...
Page 216: ...7 4 CHAPTER 7 Specifications User tubing 1 f4 black User tubing 2 f4 red User tubing 3 f4 blue...
Page 217: ...7 5 CHAPTER 7 Specifications Fig 7 2 R6YXH350...
Page 218: ...7 6 CHAPTER 7 Specifications...
Page 219: ...7 7 CHAPTER 7 Specifications Fig 7 3 R6YXH400...
Page 221: ...7 9 CHAPTER 7 Specifications Fig 7 4 R6YXX1200...
Page 222: ...7 10 CHAPTER 7 Specifications...
Page 224: ...7 12 CHAPTER 7 Specifications Fig 7 6 R6YXX1200...
Page 225: ...7 13 CHAPTER 7 Specifications 1 4 Wiring table Robot cable wiring table...
Page 226: ...7 14 CHAPTER 7 Specifications...
Page 229: ...7 17 CHAPTER 7 Specifications Motor wiring table Motor X Y Motor Z R...
Page 230: ...7 18 CHAPTER 7 Specifications Resolver wiring table Resolver X Y Resolver Z R...