3
Data setting
3-4
2.2 "Custom setting" type
This setting type allows a more detailed positioning operation.
Speed and acceleration concept
The acceleration is set in m/s
2
units. The max. permissible
setting value is the max. accel.
for each robot type.
Speed
"Speed" = 600.00 (mm/s)
"Accel." = 4.00 (m/s
2
)
Time
"Decel. speed" = 100%
The speed is specified in
"mm/s" units. The max.
permissible setting value is the
max. accel. for each robot type.
Specified as a
percentage of the
accel. speed.
23304-M0-00
TIP
The payload setting is specified by servo parameter K76 (Payload 1). (See section 4.2, "Parameter details" of this
manual for details.)
Point data setting range and default settings
n
Data Item
Setting Range
Units
*2
Default
1
RUN type
1 to 8 (8 types)
-
1
2
Position
Other than TS-P
: -9999.99 to 9999.99
TS-P
: -9999.999 to 9999.999
mm
0.00
3
Speed
0.01 to upper limit (depends on robot type)
Depends on robot type
mm/s
Depends on robot type
4
Accel.
0.01 to upper limit (depends on robot type)
Depends on robot type
m/s
2
Depends on robot type
5
Decel.
1 to 100
%
100
6
Push
TS-S, TS-S2, TS-SH : 1 to upper limit (depends on robot type)
*1
TS-X, TS-P
: 1 to 100
%
TS-S, TS-S2, TS-SH : Depends on robot type
TS-X, TS-P
: 100
7
Zone (-)
Other than TS-P
: -9999.99 to 9999.99
TS-P
: -9999.999 to 9999.999
mm
0.00
8
Zone (+)
9
Near width
Other than TS-P
: 0.00 to 9999.99
TS-P
: 0.000 to 9999.999
mm
1.00
10
Jump
0 to 255
-
0
11
Flag
0 to 15
-
0
12
Timer
0 to 30000
ms
0.00
*1. The upper limit setting of the push force is the maximum push force of each model.
*2. Depending on the robot model, the point data system-of-units which appears in the User's Manual and support tools may differ
from the actual system-of-units.
TIP
"Depends on robot type" indicates that the default setting varies according to the robot type being used.
c
CAutIoN
When the "Custom setting" type is selected, the max. permissible accel. setting value is the max. accel. for each
robot type. however, if a payload is registered, operation will not occur at an acceleration which exceeds the
max. accel. (max. payload accel.) which has been determined based on the payload.
