Yamaha RCX222, Руководство пользователя

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Chapter
4
OPERA
TION
12. "SYSTEM" mode
12.1.1 Parameter list
■
Robot parameters
Refer to "12.1.2 Robot parameters" in this chapter for details on parameters.
No. Name Displayed name Identifier
Setting
range
Default
setting
Unit
1 Tip weight *2 Tip weight [kg] WEIGHT 0 to 200 Robot type kg
2
Return-to-origin
sequence
Origin sequence ORIGIN 0 to 654321 312456 –
3*
1
R-axis direction
retention
R axis orientation RORIEN KEEP, FREE KEEP –
*1 Only available for SCARA robots.
■
Axis parameters
Refer to "12.1.3 Axis parameters" in this chapter for details on parameters.
No. Name Displayed name Identifier
Setting
range
Default
setting
Unit
1
Acceleration
coefficient
Accel. coefficient
[%]
ACCEL 1 to100 100 %
2 Deceleration rate Decel. rate [%] DECRAT 1 to100 Robot type %
3 + software limit +Soft limit [pulse] PLMT+
-6144000 to
+6144000
Robot type pulse
4 - software limit -Soft limit [pulse] PLMT-
-6144000 to
+6144000
Robot type pulse
5 Tolerance Tolerance [pulse] TOLE
1 or more
robot type
80 pulse
6
OUT effective
position
OUT position
[pulse]
OUTPOS 1 to 6144000 Robot type pulse
7 Arch position
Arch position
[pulse]
ARCH 1 to 6144000 Robot type pulse
8
Return-to-origin
speed
Origin speed
[pulse/ms]
ORGSPD 1 or more
robot type
20
pulse/
ms
9
Acceleration during
manual mode
Manual accel [%] MANACC 1 to 100 100 %
10
Origin position
shift
Origin shift [pulse] SHIFT
-6144000 to
+6144000
0 pulse
11 Arm length Arm length [mm] ARMLEN 0 to 10000 0 mm
12 Offset pulse Offset pulse OFFSET
-6144000 to
+6144000
0 pulse
13 Axis tip weight *
2
Axis tip weight [kg] AXSTIP
0 or more
robot type
kg
14
Return-to-origin
method
Origin method ORGSNS
SENSOR,
TORQUE,
MARK
Robot type –
15
Return-to-origin
direction
Origin direction ORGDIR ---, +++ Robot type –
16
Robot movement
direction
Motor direction MOTDIR ---, +++ Robot type –
17 Limitless motion Limitless motion NOLMT
INVALID,
VALID
INVALID –
*2 Transport weight settings
By setting the weight of workpieces transported by the robot in the parameters, the
robot controller optimizes acceleration when the robot is moving.
Depending on whether the robot type is "MULTIXY" or "COMPOXY", the parameter in
which the tip weight is set differs.
("MULTIXY" and "COMPOXY" are robot types set when performing system generation.)