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6-3
CHAPTER 6 Increasing the robot operating speed
(2) Increasing the speed with the WEIGHT statement
[Also refer to:] Robot controller user's manual
("Robot parameters" – "Axis tip weight" in Chapter 4)
Programming manual
(WEIGHT statement in "10. Command statements".)
[Example]
From P1 when chuck is open:
WEIGHT 5 .........Changes the axis tip weight parameter to 5kg (no workpiece).
MOVE P, P2, Z=0
DO3 (0) = 1 ........Chuck closes.
WEIGHT 10 .......Changes the axis tip weight parameter to 10kg (with work-
piece).
MOVE P, P3, Z=0
In the above program, the acceleration can be set to a higher level by reducing
the axis tip weight parameter to 5kg while the chuck does not grip any work-
piece, and then set to a lower level by changing the axis tip weight parameter
to 10kg. Compared to programs using an axis tip weight parameter left set at
10kg, this method shortens the cycle time since the acceleration is increased.
P1
Z=0
Chuck opens.
Chuck 5kg
Workpiece 5kg
P3
P2
Chuck closes.
No workpiece
Chuck is gripping workpiece.
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...