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4
Edit
4-45
Name
Identifier
Setting range
Initial value
Unit
XY axis accel. rate
SCRACC
1 to 500
100
%
XY axis accel. velocity rate
SCRVEL
1 to 500
100
%
R axis velocity rate
SCRRVEL
1 to 500
Depends on the model.
%
Inner side circle minimum radius
MINRAD
10 to 100000
5000
0.001mm
Speed limit radius 1
CERAD1
10 to 100000
30000
0.001mm
Speed limit radius 2
CERAD2
10 to 100000
5000
0.001mm
Speed limit 1
SPLMT1
1 to 100
10
%
Speed limit 2
SPLMT2
1 to 100
1
%
Outer CP prohibited range
SCROPHR
0 to 9999999
Depends on the model.
0.001mm
Outer Jogging CP velocity limited range
SCROVLR
0 to 9999999
Depends on the model.
0.001mm
Outer Jogging CP velocity limit
SCROVL
1 to 100
5
%
Custom robot
*1
CSTMRBT
0: INVALID, 1: VALID
0
*1 Contact your distributor for changing these parameters as editing them may influence the robot control.
Axis parameters
For details about parameters, refer to "10.6 Axis parameters" in this Chapter.
Name
Identifier
Setting range
Initial value
Unit
+ Soft limit
PLMT+
-9999999 to 9999999
Depends on the model.
pulse
- Soft limit
PLMT-
-9999999 to 9999999
Depends on the model.
pulse
Accel. coefficient
ACCEL
1 to 100
100
%
Decel. rate
DECRAT
1 to 100
100
%
Tolerance
TOLE
1 to value depending on the model
80
pulse
OUT position
OUTPOS
1 to 9999999
2000
pulse
CONT pulse
CONTPLS
0 to 9999999
0
pulse
Arch pulse 1
ARCHP1
0 to 9999999
9999999
pulse
Arch pulse 2
ARCHP2
0 to 9999999
9999999
pulse
Push speed
PSHSPD
1 to 100
10
%
Push force
PSHFRC
-1000 to 1000
100
ms
Push time
PSHTIME
1 to 32767
1000
ms
Push judge speed
PSHJGSP
0 to 100
0
%
Push method
PSHMTD
0: NORMAL, 1: RESET
0
Manual accel
MANACC
1 to 100
100
%
Origin speed 1
ORGVEL1
1 to 1000
200
pulse/10ms
Origin speed 2
ORGVEL2
1 to 100
50
pulse/10ms
Speed after origin
ORGMVS
1 to 100
20
%
Move position
ORGMVP
-9999999 to 9999999
0
pulse
Origin shift
ORGSFT
-9999999 to 9999999
0
pulse
Dual offset
DOFSET
-9999999 to 9999999
0
pulse
Origin method
ORGMTD
0: MARK, 1: SENSOR,
2: TORQUE, 3: ZR_TORQUE
Depends on the model.
Origin direction
ORGDIR
0: MINUS, 1: PLUS
0
Motor direction
MOTDIR
0: CW, 1: CCW
Depends on the model.
Arm length
ARMLEN
0 to 9999999
0
0.001mm, 0.001 deg.
Offset pulse
OFFSET
-9999999 to 9999999
0
pulse
• Set the workpiece weight held at the robot tip for the tip weight of the robot parameters.
• The value of the arm length parameter may affect the acceleration. The effective stroke value of each axis needs to
be input for the arm length.
Содержание YRCX Series
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