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6
Incr
easing the r
obot opera
ting speed
6-2
3.
Arch motion: Making the arch position value larger
In "2. Arch motion", 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
[Example]
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.
Arch motion
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 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...