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6-1
CHAPTER 6 Increasing the robot operating speed
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) Increasing speed by arch motion
[Also refer to:] Robot controller user's manual
("Axis parameters" – "Arch position" in Chapter 4)
Programming manual
(ARCH statement in "10. Command statements".)
1-
Gate motion
From point P1 to P4 via P2 and P3:
MOVE P, P2
MOVE P, P3
MOVE P, P 4
2-
Arch motion: Using default arch position: (2000 pulses)
From point P1 to P2:
MOVE P, P2, Z=0
"Axis parameters" – "Arch position"
M1 (X-axis arch position) = 2000 pulses
M2 (Y-axis arch position) = 2000 pulses
M3 (Z-axis arch position) = 2000 pulses
M4 (R-axis arch position) = 2000 pulses
When the Z-axis moves upward from P1 and enters the M3 arch position range
(2000 pulses prior to Z=0), the X, Y and R axes begin to move. When these 3
axes enter the M1, M2 and M4 arch position range (2000 pulses prior to P2),
the Z-axis moves downward to P2. Compared with the gate motion 1, this arch
motion shortens the cycle time approximately 20% by moving the robot arm
along an arc.
Z=0
P2
P1
P3
P4
Z=0
M1, M2, M4
P1
M3
P2
Содержание R6Y Series
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Страница 53: ...3 13 CHAPTER 3 Installation Fig 3 7 Ground terminal Ground symbol M4 Ground terminal...
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Страница 144: ...4 36 CHAPTER 4 Adjustment Z axis mechanical stopper L L Fig 4 10 R6YXH250 to R6YXH400 Fig 4 11 R6YXX1200...
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Страница 215: ...7 3 CHAPTER 7 Specifications 1 2 External view and dimensions Fig 7 1 R6YXH250...
Страница 216: ...7 4 CHAPTER 7 Specifications User tubing 1 f4 black User tubing 2 f4 red User tubing 3 f4 blue...
Страница 217: ...7 5 CHAPTER 7 Specifications Fig 7 2 R6YXH350...
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Страница 219: ...7 7 CHAPTER 7 Specifications Fig 7 3 R6YXH400...
Страница 220: ...7 8 CHAPTER 7 Specifications X and Y axis mechanical stopper positions 1 5 Working envelope 1 5...
Страница 221: ...7 9 CHAPTER 7 Specifications Fig 7 4 R6YXX1200...
Страница 222: ...7 10 CHAPTER 7 Specifications...
Страница 223: ...7 11 CHAPTER 7 Specifications 1 3 Robot inner wiring diagram Fig 7 5 R6YXH250 R6YXH350 R6YXH400...
Страница 224: ...7 12 CHAPTER 7 Specifications Fig 7 6 R6YXX1200...
Страница 225: ...7 13 CHAPTER 7 Specifications 1 4 Wiring table Robot cable wiring table...
Страница 226: ...7 14 CHAPTER 7 Specifications...
Страница 229: ...7 17 CHAPTER 7 Specifications Motor wiring table Motor X Y Motor Z R...
Страница 230: ...7 18 CHAPTER 7 Specifications Resolver wiring table Resolver X Y Resolver Z R...