Yamaha RCX240, Руководство пользователя

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4-202
Chapter 4 OPERATION
12. "SYSTEM" mode
Chapter 4 OPERATION
4-203
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.
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
1
Select "7. Arch position [pulse]" in "SYSTEM>PARAM>AXIS" mode.
2
Press (EDIT).
3
Select the axis with cursor ( / ) keys.
ＳＹＳＴＥＭ ＞ＰＡＲＡＭ＞ＡＸＩＳ Ｖ１０．０１
７．Ａｒｃｈ ｐｏｓｉｔｉｏｎ［ｐｕｌｓｅ］ （ ０．５６ｍｍ）
Ｍ１＝ ２０００ Ｍ２＝ ２０００ Ｍ３＝ ２０００
ｍ４＝ ２０００
［１−６１４４０００］ Ｅｎｔｅｒ ＞２０００
Setting the "Arch position [pulse]"
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.