Omron R6YXG500, Руководство по установке

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6
Incr
easing the r
obot opera
ting speed
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) (2.4 Axis parameters) (6. out position)
Programming manual
("Robot Language Lists" in Chapter 8) (69 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
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 "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".