Omron R6YXG500, Installation Manual

Page: 235 / 330

6
Incr
easing the r
obot opera
ting speed
6-3
1.2 Increasing the speed with the WEIGHT statement
[Also refer to:]
Robot controller user’s manual
("Controller system settings" in Chapter 7) (2.3 Robot parameters) (1. Tip weight)
Programming manual
("Robot Language Lists" in Chapter 8) (116 WEIGHT)
[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 workpiece).
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 workpiece, 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.
Increasing the speed with the WEIGHT statement
P1
Z=0
Chuck opens.
Chuck 5kg
Workpiece 5kg
P3 P2
Chuck closes.
No workpiece Chuck is gripping workpiece.