Yamaha RCX141, User Manual

Page: 215 / 402

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157
4
Operation
12. “SYSTEM” mode
9. Manual accel [%] /MANACC
This parameter sets the acceleration in a range from 1 to 100% during robot manual
movement. The manual acceleration 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 automatically determined internally in the controller to obtain optimum
performance at 100%
[Procedure]
1) Select “9. Manual accel [%]” in “SYSTEM>PARAM>AXIS” mode.
2) Press the
F 1
(EDIT) key.
3) Select the axis with the cursor (
↑
/
↓
) keys.
Fig. 4-12-22 Setting the “Manual accel [%]”
SYSTEM >PARAM>AXIS V8.30
9.Manual accel[%]
M1= 100 M2= 100 M3= 100
100 m4= 100
[1-100] Enter >_ 100
4) Input 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 manual movement 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.