Yamaha RCX40 User Manual page 214

12. "SYSTEM" mode
n
NOTE
This parameter value is a ratio to the
acceleration.
4
n
NOTE
If the robot arm tip shakes or sways
when the robot stops, lower this value
to suppress the shaking.
c
CAUTION
Lowering the deceleration ratio
lengthens the time needed to stop,
when the key was pressed or an
STOP
interlock was triggered. Do not use a
drastically lowered deceleration ratio.
154
4-
2. Decel. rate [%]/DECRAT
This parameter sets the deceleration rate in a range from 1 to 100% during movement
by robot movement command. This parameter value is a ratio to the acceleration. A
deceleration rate inherent to each axis is automatically set when the parameters are
initialized.
[Procedure]
1) Select "2. Decel. rate [%]" in "SYSTEM>PARAM>AXIS" mode.
2) Press the (EDIT) key.
F 1
3) Select the axis with the cursor (↑/↓) keys.
Fig. 4-12-13 Setting the "Decel. rate [%]"
SYSTEM>PARAM>AXIS
2.Decel. rate[%]
M1=
m4=
[1-100] Enter >_ 1 00
4) Enter the value with the
5) Repeat the above steps 3) and 4) if necessary.
6) Press the key to quit the edit mode.
ESC
100 M2= 100 M3=
100
to keys and then press the
0 9
V8.01
90
key.