Increasing The Robot Operating Speed; Increasing Speed By Arch Motion - Yamaha YK-X Series User Manual

1.

Increasing the robot operating speed

The robot operating speed can be increased by the following methods. Use these methods as needed when
programming.
1.1

Increasing speed by arch motion

[Also refer to:]
Robot controller user's manual
(Controller system settings) (Axis parameters Arch pulse)
Programming manual
(Robot Language Lists) (ARCHP1/ARCHP2)
1. Gate motion
From point P1 to P4 via P2 and P3:
MOVE P, P2
MOVE P, P3
MOVE P, P4
Gate motion
Z=0
P2
P1
2. Arch motion
From point P1 to P2:
MOVE P, P2, Z=0
Axis parameter arch pulse 1, arch pulse 2 (ARCHP1, ARCHP2)
ARCHP1 = 102400 pulses
ARCHP2 = 102400 pulses
* The default arch pulse value is 9999999 pulses.
Arch motion:
Z=0
ARCHP1
After the Z-axis has moved up 102400 pulses from P1, the X, Y, and R-axis start operating. This operation is performed so
that the remaining Z-axis movement distance becomes 102400 pulses when the movements of the X, Y, and R-axis have
been completed.
As the tracking draws an arc, the cycle time is shortened when compared to the gate motion stated in 1 above.
P3
P4
ARCHP2
Obstacles Obstacles
P1 P2
8
23601-F0
23602-F0
8-1