Yamaha YK-XR Series, Installation Manual

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6
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1. Increasing the robot operating speed
The robot operating speed can be increased by the following methods. Use these methods as needed when
programming.
1.1 Increasing speed by arch motion
[Also refer to:]
Robot controller user’s manual
("Controller system settings" in Chapter 7) (11.5 Axis parameters Arch pulse)
Programming manual
("Robot Language Lists" in Chapter 8) (ARCHP1/ARCHP2)
Gate motion 1.
From point P1 to P4 via P2 and P3:
MOVE P, P2
MOVE P, P3
MOVE P, P4
Gate motion
Z=0
P2
P1
P3
P4
23601-F0
Arch motion 2.
From point P1 to P2:
MOVE P, P2, Z=0
Axis parameter arch pulse 1, arch pulse 2 (ARCHP1, ARCHP2)
ARCHP1 = 102400 pulses
ARCHP2 = 102400 pulses
* The default arch pulse value is 9999999 pulses.
ARCHP1 ARCHP2
Obstacles Obstacles
Arch motion:
Z=0
P1 P2
23602-F0
After the Z-axis has moved up 102400 pulses from P1, the X-, Y-, and R-axis start operating. This operation is performed
so that the remaining Z-axis movement distance becomes 102400 pulses when the movements of the X-, Y-, and R-axis
have been completed.
As the tracking draws an arc, the cycle time is shortened when compared to the gate motion stated in 1 above.