Yamaha RCX222, Руководство пользователя

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Chapter
4
OPERA
TION
12. "SYSTEM" mode
5) Repeat the above steps 3) and 4) if necessary.
6) Press to quit the edit mode.
5. Tolerance [pulse] /TOLE
This parameter sets the tolerance range of the target position where robot movement
ends. This is set to a value unique to each axis when initialized.
Positioning on an axis is judged to be complete when the robot axis enters within the
specified tolerance range. During consecutive PTP movement in a program, the larger
this value is made, the more the positioning time can be shortened.
The tolerance range set for the selected axis is displayed in converted units on the
3rd line of the RPB screen.
c
CAUTION
• This is a critical parameter for determining the robot movement near the
target position so set it to a correct value.
• If the tolerance range was reduced to a drastically small value, then the
time needed for robot positioning might vary.
• The maximum tolerance value is determined by the motor.
■
Tolerance range
Current position
Target position
Tolerance range
[Procedure]
1) Select "5. Tolerance [pulse]" in "SYSTEM>PARAM>AXIS" mode.
2) Press (EDIT).
3) Select the axis with the cursor (
↑
/
↓
) keys.
■
Setting the "Tolerance [pulse]"
SYSTEM >PARAM>AXIS V9.00
5.Tolerance[pulse]
M1= 80 M2= 80
[1- ] Enter >_ 80
( 0. 09mm)