Yamaha RCX222, Руководство пользователя

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Chapter
4
OPERA
TION
12. "SYSTEM" mode
7. Arch position [pulse] /ARCH
When an arch motion command (optional PTP operation) is executed, arch movement
begins when the robot enters the arch position range set by this parameter for the
target position. This parameter is set to a value unique to each axis when initialized.
When the axis specified for arch movement starts PTP movement toward the specified
position and enters the arch position range, the other axes start to move. When those
axes enter the arch position range, the arch-specified axis moves by PTP toward the
target position. Movement time can be shortened by making this value larger since
there is a greater overlap for axis operation.
The value set for the selected axis is displayed in converted units on the 3rd line of
the RPB screen.
c
CAUTION
• The arch-specified axis may sometimes reach the target position faster
than the other axes if the arch position is large. So set an accurate value
for the arch position.
• Movement may be along different paths during arch operation due to the
movement speed. Check the arch motion at a speed at which the robot
actually moves.
■
Arch motion
Current position
Target position
Movement of other axes
Specified axis
movement
Specified axis
movement
Arch position range
of arch-specified axis
Arch position range
of other axes
[Procedure]
1) Select "7. Arch position [pulse]" in "SYSTEM>PARAM>AXIS" mode.
2) Press (EDIT).