Yamaha RCX222, User Manual

Page: 274 / 524

4-176
Chapter
4
OPERA
TION
4-177
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%
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 was pressed or an interlock was triggered. Do not use a
drastically lowered acceleration coefficient.
[Procedure]
1) Select "9. Manual accel [%]" in "SYSTEM>PARAM>AXIS" mode.
2) Press (EDIT).
3) Select the axis with the cursor (
↑
/
↓
) keys.
■
Setting the "Manual accel [%]"
SYSTEM >PARAM>AXIS V9.00
9.Manual accel[%]
M1= 100 M2= 100
100
[1-100] Enter >_ 100
4) Input the value with to and then press .
5) Repeat the above steps 3) and 4) if necessary.
6) Press to quit the edit mode.