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6-5
CHAPTER 6 Increasing the robot operating speed
(4) Increasing the speed by the OUT effective position parameter
[Also refer to:] Robot controller user's manual
("Axis parameters" – "Out effective Position" in Chapter 4)
Programming manual
(OUTPOS statement in "10. Command statements".)
[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
P1
P2
Chuck closed.
Chuck starts closing.
OUT effective position
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 rotating 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 rotating angle, Z-axis movement distance
and pulse values, refer to the tables listed under item (4) in "4. Setting the soft
limits". (Chapter 4 in this manual)
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".
Содержание R6Y Series
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Страница 31: ...CHAPTER 2 Functions 1 Robot Manipulator 2 1 2 Robot Controller 2 4 3 Robot initialization number list 2 5...
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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...
Страница 150: ...4 42 CHAPTER 4 Adjustment End effector R Y X z Fig 4 13 Positions for affixing the stickers...
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Страница 203: ...CHAPTER 6 Increasing the robot operating speed 1 Increasing the robot operating speed 6 1...
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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...
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...