Omron R6YXC1000, User Manual, Page: 156 / 260

7
Contr
oller system settings
7-20
10.6 Axis parameters
■
Plus (+) soft limit
‹
PLMT+
›
Minus (-) soft limit
‹
PLMT-
›
This parameter sets the axis movement range using the upper limit value [plus (+) soft limit] and lower limit value [minus
(-) soft limit]. When this parameter is initialized, the value unique to the model is set.
When performing point teaching or automatic operation, check that the specified point data is within the soft limit range.
WARNING
Be sure to set the soft limit inside the mechanical movement range (mechanical stopper) of the axis.
CAUTION
• Since this parameter is important to determine the operating range, be sure to set the correct value.
• For the X-axis and Y-axis of the SCARA robot, make the setting so that the total of the plus (+) and minus (-) soft limit
absolute values does not exceed 360 degrees. Otherwise, an error may occur in the coordinate conversion results.
• When return-to-origin is incomplete, the soft limits become invalid. Therefore, take great care when performing
jog movement.
NOTE
Input the soft limit value with the 0 to 9 keys, "." key, and "-" key.
When the value that is input with the keys is a real number (numeric value including a period), the unit is
automatically converted into the pulse value.
■
Acceleration coefficient
‹
ACCEL
›
This parameter sets the acceleration/ deceleration during robot movement in a range of 1 to 100%. When this parameter
is initialized, "100" is set.
CAUTION
When decreasing the acceleration coefficient, a period of stop time in response to the stop command by the
STOP key or stop signal may become long. Take great care when using the robot with the acceleration
coefficient decreased extremely.
NOTE
When the tip swings during robot movement acceleration/ deceleration, decrease this value to suppress the swing.
■
Deceleration rate
‹
DECRAT
›
This parameter sets the deceleration rate during robot movement in a range of 1 to 100% and sets the deceleration as
the rate to acceleration. When this parameter is initialized, the value unique to the model is set.
CAUTION
When decreasing the deceleration rate, a period of stop time in response to the stop command by the STOP key
or stop signal may become long. Take great care when using the robot with the deceleration rate decreased
extremely.
NOTE
•
Set this parameter for changing only deceleration without decreasing acceleration.
•
When the tip swings during robot movement deceleration, decrease this value to suppress the swing.