Mitsubishi CR750-Q Series Instruction Manual page 89

PAC2
When operating by the adsorption of workpiece,
the acceleration and the deceleration when
moving to the workpiece suction position are set.
X = The acceleration until moving to the
workpiece suction position. (1 to 100) (%)
Y = The deceleration until moving to the
workpiece suction position. (1 to 100) (%)
PAC3
When operating by the adsorption of workpiece,
the acceleration and the deceleration when
moving toward the position on the workpiece are
set.
X = The acceleration until moving to the position
on the workpiece. (1 to 100)
Y = The deceleration until moving to the position
on the workpiece. (1 to 100)
PAC11
When operating by the release of workpiece, the
acceleration and the deceleration when moving to
the position on the workpiece are set.
X = The acceleration until moving to the position
release position. (1 to 100)
Y = The deceleration until moving to the position
release position. (1 to 100)
PAC12
When operating by the release of workpiece, the
acceleration and the deceleration when moving to
the workpiece release position are set.
X = The acceleration until moving to the
workpiece release position. (1 to 100) (%)
Y = The deceleration until moving to the
workpiece release position. (1 to 100) (%)
PAC13
When operating by the release of workpiece, the
acceleration and the deceleration when moving
toward the position on the workpiece are set.
X = The acceleration until moving to the position
on the workpiece. (1 to 100)
Y = The deceleration until moving to the position
on the workpiece. (1 to 100)
PDLY1 Set the suction time.
X: Suction time (s).
PDLY2 Set the release time.
X: Release time (s).
POFSET
When the adsorption position shifts, the gap can
be corrected. Set the correction value.
* The direction of the correction is a direction
of the hand coordinate system. Please decide
the correction value after changing the job
mode to "Tool", pushing the [+X] key and the
[+Y] key, and confirming the operation of the
robot.
16 Teaching and Setting of Adjustment Variables (
(%)
(%)
(%)
(%)
(%)
(%)
Setting of adjustment variables in the program 16-79
When the following values are set:
Acceleration until moving to the
workpiece suction position. : 10%
Deceleration until moving to the
workpiece suction position. : 20%
(X, Y, Z, A, B, C) =(+10,+20,+0,+0,+0,+0)
When the following values are set:
Acceleration until moving to the position
on the workpiece. : 50%
Deceleration until moving to the
position on the workpiece.
(X, Y, Z, A, B, C) =(+50,+80,+0,+0,+0,+0)
When the following values are set:
Acceleration until moving to the position
: 80%
on the workpiece
Deceleration until moving to the
position on the workpiece
(X, Y, Z, A, B, C) =(+80,+70,+0,+0,+0,+0)
When the following values are set:
Acceleration until moving to the
workpiece release position.
Deceleration until moving to the
workpiece release position.
(X, Y, Z, A, B, C) = (+5,+10,+0,+0,+0,+0)
When the following values are set:
Acceleration until moving to the position
on the workpiece. : 100%
Deceleration until moving to the
position on the workpiece.
(X, Y, Z, A, B, C) =
(+100,+100,+0,+0,+0,+0)
When setting 0.5 second for the sucking
time:
(X, Y, Z, A, B, C) = (+0.5,+0,+0,+0,+0,+0)
When setting 0.3 second for the release
time:
(X, Y, Z, A, B, C) = (+0.3,+0,+0,+0,+0,+0)
" "
1 Program)
: 80%
: 70%
: 5%
: 10%
: 100%