Yamaha RCX240, User Manual

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Chapter 4 OPERATION
12. "SYSTEM" mode
Chapter 4 OPERATION
4-197
1. Accel coefficient [%] /ACCEL
This parameter sets acceleration in "AUTO" mode in a range from 1 to 100% during movement
by robot movement command. This 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 internally set in the control to be 100% at maximum performance.
1
Select "1.Accel coefficient [%]" in "SYSTEM>PARAM>AXIS" mode.
2
Press (EDIT).
3
Select the axis with the cursor ( / ) keys.
ＳＹＳＴＥＭ ＞ＰＡＲＡＭ＞ＡＸＩＳ Ｖ１０．０１
１．Ａｃｃｅｌ ｃｏｅｆｆｉｃｉｅｎｔ［％］
Ｍ１＝ １００ Ｍ２＝ １００ Ｍ３＝ １００
ｍ４＝ １００
［１−１００］ Ｅｎｔｅｒ ＞ １００
Setting the "Accel coefficient [%]"
n
NOTE
If the robot arm tip shakes or sways during acceleration, lower this value to suppress
the shaking.
4
Enter the value with to and then press .
c
CAUTION
Lowering the acceleration coefficient lengthens the time needed to stop, when the
was pressed or an interlock was triggered. Do not use a drastically lowered
acceleration coefficient.
5
Repeat steps 3 and 4 as needed.
6
Press to quit the edit mode.