Standard Setting" Type - Yamaha TS-P User Manual

3.2.1 "Standard setting" type

The optimum acceleration is automatically set simply by specifying the desired
payload.
Speed and acceleration concept
"Accel." = 100%
The optimum acceleration percentage
value (%) is specified in accordance
with the movement amount and
movement speed, based on the max.
payload accel. which is automatically
set when the payload is specified.
Acceleration calculating algorithm
m/s
Max. payload accel.
(max. accel.) for 0kg payload
Max. payload accel.
for payload setting
Max. payload accel.
for max. payload
Payload settings are specified at the K76 (Payload 1) and K78 (Payload 2) servo
parameters. (See section 3.4.2 "Parameter details" of this manual for details.)
If 2 payloads have been set, either setting can be selected for each point data. (See the
TIP
"Flag" item in section 3.3 "Point data details" of this manual for details.)
Point data setting range and default settings
■
Data Item
1 RUN type
2 Position
3 Speed
4 Accel.
5 Decel.
6 Push
7 Zone (-)
8 Zone (+)
9 Near width
10 Jump
11 Flag
12 Timer
Speed
"Speed" = 100%
"Speed" = 50%
2
Payload
Max. payload
setting value
weight
Setting Range
1 to 8 (8 types)
-9999.999 to 9999.999
1 to 100
1 to 100
1 to 100
1 to 100
-9999.999 to 9999.999
0.000 to 9999.999
0 to 255
0 to 1
0 to 30000
3.2 Point data
Specified as a percentage of the max.
speed for each robot.
"Decel. speed" = 100%
Specified as a percentage
of the accel.
Time
Payload is set.
Max. payload accel. is automatically set
based on the payload. (See fig. at left.)
Optimum accel. is calculated in accordance with the
movement amount and movement speed, based on
the Max. payload accel. at operation START.
kg
Accel. is determined and set.
Units
-
mm
%
%
%
%
mm
mm
-
-
ms
Chapter 3 Data setting
1
2
3
4
5
6
7
Default
1
0.00
100
100
100
100
0.00
1.00
0
0
0.00
3-3