Yamaha RCX142 User Manual page 225

n
NOTE
If the robot arm tip shakes or sways
during manual movement acceleration,
lower this value to suppress the
shaking.
c
CAUTION
Lowering the acceleration coefficient
lengthens the time needed to stop,
when the key was pressed or an
STOP
interlock was triggered. Do not use a
drastically lowered acceleration
coefficient.
9. Manual accel [%] /MANACC
This parameter sets the acceleration in a range from 1 to 100% during robot manual
movement. The manual acceleration is automatically set to 100 when the parameters
are initialized.
If the tip weight (workpiece weight + tool weight) is set correctly, then the actual
acceleration is automatically determined internally in the controller to obtain optimum
performance at 100%
[Procedure]
1) Select "9. Manual accel [%]" in "SYSTEM>PARAM>AXIS" mode.
2) Press the (EDIT) key.
F 1
3) Select the axis with the cursor (↑/↓) keys.
Fig. 4-12-22 Setting the "Manual accel [%]"
SYSTEM>PARAM>AXIS
9.Manual accel[%]
M1=
100m4=
[1-100] Enter >_ 1 00
4) Input the value with the
5) Repeat the above steps 3) and 4) if necessary.
6) Press the key to quit the edit mode.
ESC
100 M2= 100 M3=
100
to keys and then press the
0 9
12. "SYSTEM" mode
V8.35
100
key.
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