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6-5
CHAPTER 6 Increasing the robot operating speed
(4) Increasing the speed by the OUT effective position parameter
[Also refer to:] Robot controller user's manual
("Axis parameters" – "Out effective Position" in Chapter 4)
Programming manual
(OUTPOS statement in "10. Command statements".)
[Example]
From P1 when chuck is open:
OUTPOS (1) = 10000 ... X-axis OUT effective position (pulses): Increases the OUT effective position.
OUTPOS (2) = 10000 ... Y-axis OUT effective position (pulses)
OUTPOS (3) = 10000 ... Z-axis OUT effective position (pulses)
OUTPOS (4) = 10000 ... R-axis OUT effective position (pulses)
MOVE P, P2, Z=0
DO3 (0) = 1 ................... Chuck closes.
OUTPOS (1) = 2000 ..... Returns the OUT effective position to the default value.
OUTPOS (2) = 2000
OUTPOS (3) = 2000
OUTPOS (4) = 2000
P1
P2
Chuck closed.
Chuck starts closing.
OUT effective position
When all of the X, Y, Z and R axes enter the OUT effective position (10000
pulses prior to P2), the chuck starts closing.
By setting the OUT effective position larger, the chuck starts closing while
the robot arm is still moving at an earlier point, so that the chuck can grip the
workpiece more quickly.
The default value of the OUT effective position is 2000 (pulses).
[Reference]
Relation between X, Y, R-axis rotating angle, Z-axis movement distance and pulse
values.
The arch position, tolerance and OUT effective position parameters are set in
pulses.
For the relation between X, Y, R-axis rotating angle, Z-axis movement distance
and pulse values, refer to the tables listed under item (4) in "4. Setting the soft
limits". (Chapter 4 in this manual)
The OUT effective position can
be set for each axis.
If the same OUT effective
position is used for all axes, you
can write as "OUTPOS 10000".
If the same OUT effective
position is used for all
axes, you can write as
"OUTPOS 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...
Page 108: ......
Page 150: ...4 42 CHAPTER 4 Adjustment End effector R Y X z Fig 4 13 Positions for affixing the stickers...
Page 160: ......
Page 162: ......
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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...