YASKAWA Motoman UP6, Instructions Manual

Page: 268 / 561

4.2 Addition of Base and Station Axis
4-12
AC Servo Motor
MAX. RPM : Input maximum rotation speed of a motor. (Unit: mm)
ACCELARATION SPEED: Input time between 0.01 and 1.00 to reach maximum
speed from stopping status at 100% JOINT motion.
(Unit: sec)
INERTIA RATIO : “300” when in case of traveling axis or ” 0” when in case
of rotation axis is set as initial value.
But if the following phenomenon occurs in motion,
deal with the followed procedure.
<Phenomenon1> During motion, the axis moves unsteady on advance direction.
$$$$$$$)
Confirm the motion with increasing this ratio in each 100.
<Phenomenon2> during pause, the motor makes a lot of noise.
$$$$$$$)
Confirm the motion with decreasing this ratio in each 100.
*3
After this motor specification setting, the display moves to the next axis. Set them for all
axes.
When [ENTER] is pressed at the motor specification display for last axis, the setting in
this display is completed and the confirmation dialog is shown.
If “YES” is selected, the system parameter is modified automatically.
The addition of the base axis setting is complete.
Normal direction
M O T O R S P E C
B1 :RECT-XYZ AXIS:3
A X I S T Y P E : B A L L - S C R E W
MOTOR S G M P - 1 5 A W Y R 1
AMP JUSP-WSA3AB
CONVERTER JUSP-ACP35JAB
R O T A T I O N D I R E C T I O N F O R W A R D
MAX RPM 2000 rpm
ACCELARATION TIME 0.300 sec
INERTIA RATIO 300
! M a i n t e n a n c e M o d e
Modify?
Y E S N O