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6
Incr
easing the r
obot opera
ting speed
6-1
1. Increasing the robot operating speed
The robot operating speed can be increased by the following methods. Use these methods as needed when
programming.
1.1
Increasing speed by arch motion
[Also refer to:]
Robot controller user’s manual
("Controller system settings" in Chapter 7) (2.4 Axis parameters) (7. Arch position)
Programming manual
("Robot Language Lists" in Chapter 8) (6 ARCH)
1.
Gate motion
From point P1 to P4 via P2 and P3:
movE p, p2
movE p, p3
movE p, p4
Gate motion
Z=0
P2
P1
P3
P4
2.
Arch motion: Using default arch position: (2000 pulses)
From point P1 to P2:
movE p, p2, Z=0
"Axis parameters" – "Arch position"
m1 (X-axis arch position) = 2000 pulses
m2 (Y-axis arch position) = 2000 pulses
m3 (Z-axis arch position) = 2000 pulses
m4 (R-axis arch position) = 2000 pulses
Arch motion:
Using default arch position: (2000 pulses)
Z=0
M1, M2, M4
P1
M3
P2
When the Z-axis moves upward from p1 and enters the m3 arch position range (2000 pulses prior to Z=0), the X, Y, and R axes
begin to move. When these 3 axes enter the m1, m2 and m4 arch position range (2000 pulses prior to p2), the Z-axis moves
downward to p2. Compared with "1. Gate motion", this arch motion shortens the cycle time approximately 20% by moving the
robot arm along an arc.
Summary of Contents for R6YXG500
Page 1: ...ZX T Series Cat No I155E EN 03A R6Y XG series INSTALLATION MANUAL SCARA Robots XG Series...
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Page 221: ...Chapter 4 Periodic inspection Contents 1 Overview 4 1 2 List of inspection items 4 2...
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Page 227: ...Chapter 5 Harmonic drive replacement period Contents 1 Overview 5 1 2 Replacement period 5 2...
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Page 323: ...8 Specifications 8 77 1 3 Robot inner wiring diagram Robot inner wiring diagram R6YXG500...