Omron R6YXG500, Installation Manual

Page: 236 / 330

6
Incr
easing the r
obot opera
ting speed
6-4
1.3 Increasing the speed by the tolerance parameter
[Also refer to:]
Robot controller user’s manual
("Controller system settings" in Chapter 7) (2.4 Axis parameters) (5. Tolerance)
Programming manual
("Robot Language Lists" in Chapter 8) (109 ToLE)
Increasing the speed by the tolerance parameter
P1
P2
P3
[Example]
From P1 to P3 via P2
ToLE (1) = 2048 ... X-axis tolerance (pulses) : Increases the tolerance.
ToLE (2) = 2048 ... Y-axis tolerance (pulses)
ToLE (3) = 2048 ... Z-axis tolerance (pulses)
ToLE (4) = 2048 ... R-axis tolerance (pulses)
movE p, p2
ToLE (1) = 80 ....... Returns the tolerance to the default value.
ToLE (2) = 80
ToLE (3) = 80
ToLE (4) = 80
movE, p, p3
When P2 is an escape point and does not need to be accurately positioned, setting the tolerance parameter to a larger value allows
the robot arm to pass through P2 quickly. The larger the tolerance value for the positioning time, the shorter the cycle time will
be. The maximum value of the tolerance parameter is 2048 (pulses) and the default is 80 (pulses).
Tolerance can be set for each axis. If the
same tolerance is used for all axes, you
can write as "ToLE 2048".
If the same tolerance is used for all
axes, you can write as "ToLE 80".