![background image](http://html1.mh-extra.com/html/omron/r6y-series/r6y-series_user-manual_743981208.webp)
6-4
CHAPTER 6 Increasing the robot operating speed
(3) Increasing the speed by the tolerance parameter
[Also refer to:] Robot controller user's manual
("Axis parameters" – "Tolerance" in Chapter 4)
Programming manual
(TOLE statement in "10. Command statements".)
[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 ........Returns the tolerance to the default value.
TOLE (2) = 80
TOLE (3) = 80
TOLE (4) = 80
MOVE, P, P3
When P2 is an escape point and does not need to be accurately positioned,
setting the tolerance parameter to a larger value allows the robot arm to pass
through P2 quickly. The larger the tolerance value for the positioning time, the
shorter the cycle time will be.
The maximum value of the tolerance parameter is 2048 (pulses) and the default
is 80 (pulses).
P1
P2
P3
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".
Содержание R6Y Series
Страница 2: ......
Страница 12: ......
Страница 30: ......
Страница 31: ...CHAPTER 2 Functions 1 Robot Manipulator 2 1 2 Robot Controller 2 4 3 Robot initialization number list 2 5...
Страница 32: ......
Страница 38: ......
Страница 53: ...3 13 CHAPTER 3 Installation Fig 3 7 Ground terminal Ground symbol M4 Ground terminal...
Страница 108: ......
Страница 144: ...4 36 CHAPTER 4 Adjustment Z axis mechanical stopper L L Fig 4 10 R6YXH250 to R6YXH400 Fig 4 11 R6YXX1200...
Страница 150: ...4 42 CHAPTER 4 Adjustment End effector R Y X z Fig 4 13 Positions for affixing the stickers...
Страница 160: ......
Страница 162: ......
Страница 202: ......
Страница 203: ...CHAPTER 6 Increasing the robot operating speed 1 Increasing the robot operating speed 6 1...
Страница 204: ......
Страница 210: ......
Страница 212: ......
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...
Страница 218: ...7 6 CHAPTER 7 Specifications...
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...