Yamaha RCX240, User Manual

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Chapter 4 OPERATION
12. "SYSTEM" mode
Chapter 4 OPERATION
4-201
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 RPB screen.
Tolerance range
Current position
Target position
Tolerance range
1
Select "5. Tolerance [pulse]" in "SYSTEM>PARAM>AXIS" mode.
2
Press (EDIT).
3
Select the axis with the cursor ( / ) keys.
ＳＹＳＴＥＭ ＞ＰＡＲＡＭ＞ＡＸＩＳ Ｖ１０．０１
５．Ｔｏｌｅｒａｎｃｅ［ｐｕｌｓｅ］ （ ０．０９ｍｍ）
Ｍ１＝ ８０ Ｍ２＝ ８０ Ｍ３＝ ８０
ｍ４＝ ８０
［１− ］ Ｅｎｔｅｒ ＞８０
Setting the "Tolerance [pulse]"
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.
4
Enter the value with to , and and then press .
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 steps 3 and 4 as needed.
6
Press to quit the edit mode.