Yamaha RCX142 User Manual page 223

c
CAUTION
• The arch-specified axis may
sometimes reach the target
position faster than the other
axes if the arch position is large.
So set an accurate value for the
arch position.
• Movement may be along different
paths during arch operation due
to the movement speed. Check the
arch motion at a speed at which
the robot actually moves.
7. Arch position [pulse] /ARCH
When an arch motion command (optional PTP operation) is executed, arch movement
begins when the robot enters the arch position range set by this parameter for the
target position. This parameter is set to a value unique to each axis when initialized.
When the axis specified for arch movement starts PTP movement toward the specified
position and enters the arch position range, the other axes start to move. When those
axes enter the arch position range, the arch-specified axis moves by PTP toward the
target position. Movement time can be shortened by making this value larger since
there is a greater overlap for axis operation.
The value set for the selected axis is displayed in converted units on the 3rd line of the
MPB screen.
Fig. 4-12-19 Arch motion
Arch position range
of arch-specified axis
Movement of other axes
Specified axis
movement
Current position
[Procedure]
1) Select "7. Arch position [pulse]" in "SYSTEM>PARAM>AXIS" mode.
2) Press the (EDIT) key.
F 1
3) Select the axis with cursor (↑/↓) keys.
Fig. 4-12-20 Setting the "Arch position [pulse]"
SYSTEM>PARAM>AXIS
7.Arch position[pulse]
M1= 2000
m4= 2000
[1-6144000] Enter >_ 2 000
4) Enter the value with the
key. If the value you input was a real number (number containing a decimal point),
then it is converted into pulse units.
5) Repeat the above steps 3) and 4) if necessary.
6) Press the key to quit the edit mode.
ESC
12. "SYSTEM" mode
Specified axis
movement
Target position
V8.35
( 0. 56mm)
M2= 2000 M3=
to , and
.
0 9
Arch position range
of other axes
2000
keys and then press the
161
4-
4