Yamaha TS-S User Manual page 117

Maximum payload acceleration and the payload
n
The maximum payload acceleration varies according to the payload setting. The optimum "maximum payload
acceleration" is determined based on the robot's registered payload weight. Two "maximum payload acceleration" settings
can be selected by "flag" acceleration selection.
Maximum payload acceleration and the payload
Max. payload accel.
(max. accel.) for 0kg payload
Max. payload accel.
for payload setting
Max. payload accel.
for max. payload
Relationship between "maximum payload acceleration" and "acceleration"
n
In the "Standard setting" point type, the acceleration is optimized within the maximum payload acceleration, based on
the positioning speed and movement distance. The "acceleration" and "maximum payload acceleration" are the same in
cases where the actual operation speed reaches the robot's maximum speed, but in all other cases, the optimum
acceleration is calculated for the positioning operation.
In the "Custom setting" point type, the specified acceleration setting becomes the actual operation acceleration unless it
exceeds the maximum payload acceleration. In that case, it is limited by the maximum payload acceleration (the
operation acceleration cannot exceed the maximum payload acceleration).
Maximum payload acceleration and acceleration
Accel. 1 = [max. payload accel.] × [accel. data] / 100
Accel. 2 = optimized value based on accel. 1
<With standard setting>
Setting the speed override
n
The overall positioning operation speed can be adjusted by the K9 (Speed Override) parameter setting. The actual
operation speed will be as shown below. The actual operation speed will be as shown below.
Speed = speed data specified at each point data×speed override (K9) / 100
2
m/s
Accel. 1
100%
Accel. 2
30%
Payload
Max. payload weight
setting value
Accel. 1
Accel. 2
Accel. 1 = accel. 2 = accel. data
<With custom setting>
kg
23510-M0-00
1200.00mm/s
360.00mm/s
23511-M0-00
5-13
5