Yamaha PHASER MF, Руководство пользователя

Страница: 41 / 97

3-9 3-8
3
Robot oper
ation
Pulse train control (SRCP, SRCP30)
Combination of MF100 and SRCP30
Payload (kg) Acceleration/deceleration (G) Position proportional gain Kpp (PRM19)
0 1.74 80
20 1.59 50
40 1.00 30
60 0.73 20
80 0.57 15
100 0.47 13
Note: Acceleration/deceleration values apply to linear acceleration/deceleration.
0
0.2
0.4
0.6
0.8
1
1.2
1.4
1.6
1.8
2
0
10
20
30
40
50
60
70
80
90
100
0 20 40 60 80 100
Payload (kg)
Kpp
Acceleration/deceleration (G)
Position proportional gain Kpp
Acceleration (G)
c
CAUTION
If the acceleration is too high, the robot might not follow the instructions or
overloads occur.
Reference
The Position proportional gain parameter (PRM19) is a hidden parameter.
For detailed information on how to display and change hidden parameters,
see the "SRCP Series Controller User's Manual" or "SRCP30 Controller User's
Manual".