Yamaha YK-XR Series, Installation Manual

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1.3 Increasing the speed by the tolerance parameter
[Also refer to:]
Robot controller user’s manual
("Controller system settings" in Chapter 7) (11.5 Axis parameters Tolerance)
Programming manual
("Robot Language Lists" in Chapter 8) (TOLE)
Increasing the speed by the tolerance parameter
P1
P2
P3
23605-F0
[Example]
From P1 to P3 via P2
TOLE (1) = 2048 ... X-axis tolerance (pulses) : Increases the tolerance.
TOLE (2) = 2048 ... Y-axis tolerance (pulses)
TOLE (3) = 2048 ... Z-axis tolerance (pulses)
TOLE (4) = 2048 ... R-axis tolerance (pulses)
MOVE P, P2
TOLE (1) = 80 ....... Decreases the tolerance at P3.
TOLE (2) = 80
TOLE (3) = 80
TOLE (4) = 80
MOVE, P, P3
If P2 is a transit point whose location does not need to be specified precisely, speed can be increased by increasing the
tolerance of positioning at P2.
Specifying a greater tolerance will produce increased sound and vibration when the robot is operating, and will make the
movement path irregular, so pay attention to the sound, vibration, and movement path as you increase the tolerance little
by little from the default value. In general, you should consider 2048 for each axis to be the maximum value.
Tolerance can be set for each axis.
If the same tolerance is used for all
axes, you can write as "TOLE 2048".
If the same tolerance is used for all
axes, you can write as "TOLE 80".