Yamaha RCX141, User Manual

Page: 219 / 402

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161
4
Operation
12. “SYSTEM” mode
13.Axis tip weight [kg] /AXSTIP
This parameter sets the weight of each axis tip (workpiece tool weight) in
kilogram units on MULTI type robots or auxiliary axes. A maximum value is set when
the parameters are initialized.
The maximum weight is automatically determined according to the currently used
axis type.
[Procedure]
1) Select “13. Axis tip weight [kg]” in “SYSTEM>PARAM>AXIS” mode.
2) Press the
F 1
(EDIT) key.
3) Select the axis with the cursor (
↑
/
↓
) keys.
Fig. 4-12-26 Setting the “Axis tip weight [kg]”
SYSTEM >PARAM>AXIS V8.30
13.Axis tip weight[kg]
M1= 0 M2= 0 M3= 0
m4= 10
[0-200] Enter >_ 0
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 can be entered
only for MULTI type robots or
auxiliary axes.
• For robots other than MULTI type
robots, set the robot arm tip
weight.
c
CAUTION
Optimal acceleration and other items
are automatically set according to this
parameter value. The robot body may
therefore be adversely affected if set
to a lower value than the actual axis
tip weight, so be sure to enter a
correct value.