Yamaha RCX141, User Manual

Page: 209 / 402

4-
151
4
Operation
12. “SYSTEM” mode
2. Decel. rate [%]/DECRAT
This parameter sets the deceleration rate in a range from 1 to 100% during movement
by robot movement command. This parameter value is a rate to the acceleration. A
deceleration rate inherent to each axis is automatically set when the parameters are
initialized.
[Procedure]
1) Select “2. Decel. rate [%]” in “SYSTEM>PARAM>AXIS” mode.
2) Press the
F 1
(EDIT) key.
3) Select the axis with the cursor (
↑
/
↓
) keys.
Fig. 4-12-13 Setting the “Decel. rate [%]”
SYSTEM >PARAM>AXIS V8.30
2.Decel. rate[%]
M1= 100 M2= 100 M3= 90
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
This parameter value is a rate to the
acceleration.
n
NOTE
If the robot arm tip shakes or sways
when the robot stops, lower this value
to suppress the shaking.
c
CAUTION
Lowering the deceleration rate
lengthens the time needed to stop,
when the
STOP
key was pressed or an
interlock was triggered. Do not use a
drastically lowered deceleration rate.