Details Of File Settings; Specifying The Roundness Err; Specifying The Cut In Length; And The Cut In Angle - YASKAWA Motoman NX100 Manual

6.2 Details of File Settings

6.2
Details of File Settings
6.2.1

Specifying the ROUNDNESS ERR

The manipulator operates within the set value of "ROUNDNESS ERR" and completes a cut-
ting motion inward from the taught path as shown by the dashed line circle in the figure below.
Because the cutting speed is automatically adjusted according to the value of "ROUNDNESS
ERR", users do not need to adjust the taught speed confirming the path. To this extent, the
teaching operations can be reduced.
6.2.2

Specifying the CUT IN LENGTH

and the CUT IN ANGLE

When the "START POINT" or the "END POINT" of the form cut setting file is PLACEMENT,
the starting point or end point of the form cutting motion is a point near the pattern. This point
is defined by the "CUT IN LENGTH" and the "CUT IN ANGLE" of the form cut setting file.
Motion path (solid line)
ROUNDNESS ERR
Pattern: Circle
Amount of
Cut in length
overrap
(arc)
Cut in
Start point
Center
angle
(placement)
6-4
Taught path (dashed line)
Cut in length
(arc)
End point
(placement)
HW0482342
HW0482342