Yamaha RCX240, User Manual

Page: 283 / 620

4-204
Chapter 4 OPERATION
4
1
2
3
5
6
7
8
9
10
Chapter 4 OPERATION
4-205
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%.
1
Select "9. Manual accel [%]" in "SYSTEM>PARAM>AXIS" mode.
2
Press (EDIT).
3
Select the axis with the cursor ( / ) keys.
ＳＹＳＴＥＭ ＞ＰＡＲＡＭ＞ＡＸＩＳ Ｖ１０．０１
９．Ｍａｎｕａｌ ａｃｃｅｌ［％］
Ｍ１＝ １００ Ｍ２＝ １００ Ｍ３＝ １００
ｍ４＝ １００
［１−１００］ Ｅｎｔｅｒ ＞ １００
Setting the "Manual accel [%]"
n
NOTE
If the robot arm tip shakes or sways during manual movement acceleration, lower
this value to suppress the shaking.
4
Input 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.