Yamaha RCX141, User Manual

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153
4
Operation
12. “SYSTEM” mode
5. Tolerance [pulse] /TOLE
This parameter sets the tolerance range of the target position where robot movement
ends. This is set to a value unique to each axis when initialized.
Positioning on an axis is judged to be complete when the robot axis enters within the
specified tolerance range. During consecutive PTP movement in a program, the larger
this value is made, the more the positioning time can be shortened.
The tolerance range set for the selected axis is displayed in converted units on the 3rd
line of the MPB screen.
Fig. 4-12-15
Current position
Target position
Tolerance range
[Procedure]
1) Select “5. Tolerance [pulse]” in “SYSTEM>PARAM>AXIS” mode.
2) Press the
F 1
(EDIT) key.
3) Select the axis with the cursor (
↑
/
↓
) keys..
Fig. 4-12-16 Setting the “Tolerance [pulse]”
SYSTEM >PARAM>AXIS V8.30
4.Tolerance[pulse]
M1= 80 M2= 80 M3= 80
m4= 80
[1- ] Enter >_ 80
( 0. 09mm)
4) Enter the value with the
0
to
9
, and
.
keys and then press the
key. If the value you input was a real number (number containing a decimal point),
then the tolerance range is converted into “pulse” units.
5) Repeat the above steps 3) and 4) if necessary.
6) Press the
ESC
key to quit the edit mode.
c
CAUTION
• This is a critical parameter for
determining the robot movement
neat the target position so set it to
a correct value.
• If the tolerance range was
reduced to a drastically small
value, then the time needed for
robot positioning might vary.
• The maximum tolerance value is
determined by the motor.