Yamaha TS-S, Руководство пользователя

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3
Data setting
3-11
4.1.4 Servo parameters
• Controller setting TS-X TS-SH
No. Name Setting / Setting Range Units Default Restart
74 Absolute setting 0: Disable 1: Enable - 1 Required
• Adjustment
No. Name Setting / Setting Range Units
*3
Default Restart
76 Payload 1 0 to max. payload (K47) kg Depends on robot type -
77 Max. payload accel.1
*1
- m/s
2
Depends on robot type -
78 Payload 2 0 to max. payload (K47) kg Depends on robot type -
79 Max. payload accel.2
*2
- m/s
2
Depends on robot type -
*1. When "payload 1" (K76) is registered, this setting is converted to a value calculated by the prescribed formula.
*2. When "payload 2" (K78) is registered, this setting is converted to a value calculated by the prescribed formula.
*3. Depending on the robot model, the point data system-of-units which appears in the User's Manual and support tools may differ
from the actual system-of-units.
• Stop mode TS-S TS-S2 TS-SH
No. Name Setting / Setting Range Units Default Restart
123 Stop mode setting 0 to 1 - 0 -
124
Stop mode
switching time
0 to 5000 ms 200 -
125
Holding current
during stop
0 to 100 % Depends on robot type -
4.2 Parameter details
The parameters described below can be adjusted to conform to the actual application and usage conditions.
4.2.1 RUN parameters
• Positioning related parameters
K1
K2 Soft limit (-)
Soft limit (+)
Setting Range Default Units Restar
Other than TS-P : -9999.99 to 9999.99
TS-P
: -9999.999 to 9999.999
Depends on robot type mm -
Function
Specifies the robot movement range. K1 specifies the minus-side limit, and K2 specifies the plus-side limit. Although the
robot's effective stroke is factory-set as the soft limit when shipped, it should be changed if necessary to avoid collisions
with obstacles, etc.
w
WARNING
Soft lIMIt fuNCtIoN IS Not A SAfEty-RElAtED fuNCtIoN INtENDED to pRotECt thE huMAN BoDy.
to REStRICt thE RoBot MovEMENt RANGE to pRotECt thE huMAN BoDy, uSE thE MEChANICAl StoppERS INStAllED IN thE
RoBot (oR AvAIlABlE AS optIoNS).
TIP
The plus and minus directions differ according to the "origin coordi." (K15) setting. For soft limit details, see section
7.1, "Soft limit function", in Chapter 5.
K3 In-position
Setting Range Default Units Restart
Other than TS-P : 0.01 to 1.00
TS-P : 0.001 to 1.000
Other than TS-P : 0.01
TS-P
: 0.001
mm -
Function
Specifies the range in which end-of-positioning is recognized.
K4 Push mode
Setting Range Default Units Restart
0 to 3 0 - -
Function
Specifies the push operation following a push judgment, and specifies the push failure judgment ("nothing was pushed" judgment).