Yamaha RCX222 User Manual page 232

12. "SYSTEM" mode
1. Accel coefficient [%] /ACCEL
This parameter sets acceleration in "AUTO" mode in a range from 1 to 100% during
movement by robot movement command. This is automatically set to 100% when the
parameters are initialized. If the tip weight (workpiece weight + tool weight) is set
correctly, then the actual acceleration is internally set in the control to be 100% at
maximum performance.
n
NOTE
If the robot arm tip shakes or sways during acceleration, lower this value to
suppress the shaking.
Chapter
4
c
CAUTION
Lowering the acceleration coeffi cient lengthens the time needed to stop,
when
drastically lowered acceleration coeffi cient.
[Procedure]
1) Select "1.Accel coefficient [%]" in "SYSTEM>PARAM>AXIS" mode.
2) Press
3) Select the axis with the cursor ( ↑ / ↓ ) keys.
■ Setting the "Accel coefficient [%]"
SYSTEM>PARAM>AXIS
[1-100] Enter >_ 1 00
4) Enter the value with
5) Repeat the above steps 3) and 4) if necessary.
6) Press
4-162
was pressed or an interlock was triggered. Do not use a
(EDIT).
1.Accel coefficient[%]
M1= 100 M2=
to
to quit the edit mode.
V9.00
100
and then press .