Yamaha YK-XR Series, Installation Manual

Page: 139 / 158

6
Inc
rea
sin
g t
he
rob
ot o
per
ati
ng
spe
ed
6-5
1.4 Increasing the speed by the OUT effective position parameter
[Also refer to:]
Robot controller user’s manual
("Controller system settings" in Chapter 7) (11.5 Axis parameters Out valid position)
Programming manual
("Robot Language Lists" in Chapter 8) (OUTPOS)
[Example]
From P1 when chuck is open:
OUTPOS (1) = 10000... X-axis OUT effective position (pulses) : Increases the OUT effective position.
OUTPOS (2) = 10000... Y-axis OUT effective position (pulses)
OUTPOS (3) = 10000... Z-axis OUT effective position (pulses)
OUTPOS (4) = 10000... R-axis OUT effective position (pulses)
MOVE P, P2, Z=0
DO3 (0) = 1 ................ Chuck closes.
OUTPOS (1) = 2000..... Returns the OUT effective position to the default value.
OUTPOS (2) = 2000
OUTPOS (3) = 2000
OUTPOS (4) = 2000
Increasing the speed by the OUT effective position parameter
P1
P2
Chuck closed.
Chuck starts closing.
OUT effective position
23606-F0
When all of the X, Y, Z, and R axes enter the OUT effective position (10000 pulses prior to P2), the chuck starts closing.
By setting the OUT effective position larger, the chuck starts closing while the robot arm is still moving at an earlier
point, so that the chuck can grip the workpiece more quickly. The default value of the OUT effective position is 2000
(pulses).
[Reference]
Relation between X, Y, R-axis movement angle, Z-axis movement distance and pulse values
The arch position, tolerance and OUT effective position parameters are set in pulses. For the relation between X, Y,
R-axis movement angle, Z-axis movement distance and pulse values, refer to "3.4 Relation between the X, Y, and R-axis
movement angle, the Z-axis movement distance and the number of pulses" in Chapter 3.
The OUT effective position can
be set for each axis.
If the same OUT effective
position is used for all axes, you
can write as "OUTPOS 10000".
If the same OUT effective
position is used for all axes,
you can write as "OUTPOS
2000".