Yamaha RCX141, User Manual

Page: 208 / 402

4-
150
Operation
4
12. “SYSTEM” mode
1. Accel coefficient [%] /ACCEL
This parameter sets acceleration in “AUTO” mode in a range from 1 to 100% during
movement by robot movement command. This is automatically set to 100% when the
parameters are initialized. If the tip weight (workpiece tool weight) is set
correctly, then the actual acceleration is internally set in the control to be 100% at
maximum performance.
[Procedure]
1) Select “1.Accel coefficient [%]” in “SYSTEM>PARAM>AXIS” mode.
2) Press the
F 1
(EDIT) key.
3) Select the axis with the cursor (
↑
/
↓
) keys.
Fig. 4-12-12 Setting the “Accel coefficient [%]”
SYSTEM >PARAM>AXIS V8.30
1.Accel coefficient[%]
M1= 100 M2= 100 M3= 100
m4= 100
[1-100] Enter >_
100
4) Enter the value with the
0
to
9
keys and then press the key.
5) Repeat the above steps 3) and 4) if necessary.
6) Press the
ESC
key to quit the edit mode.
n
NOTE
If the robot arm tip shakes or sways
during acceleration, lower this value
to suppress the shaking.
c
CAUTION
Lowering the acceleration coefficient
lengthens the time needed to stop,
when the
STOP
key was pressed or an
interlock was triggered. Do not use a
drastically lowered acceleration
coefficient.