Custom Setting" Type - Yamaha TS-S User Manual

2.2
This setting type allows a more detailed positioning operation.
3
TIP
The payload setting is specified by servo parameter K76 (Payload 1). (See section 4.2, "Parameter details" of this
manual for details.)
Point data setting range and default settings
n
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
*1. The upper limit setting of the push force is the maximum push force of each model.
*2. Depending on the robot model, the point data system-of-units which appears in the User's Manual and support tools may differ
from the actual system-of-units.
TIP
"Depends on robot type" indicates that the default setting varies according to the robot type being used.
c
CAutIoN
When the "Custom setting" type is selected, the max. permissible accel. setting value is the max. accel. for each
robot type. however, if a payload is registered, operation will not occur at an acceleration which exceeds the
max. accel. (max. payload accel.) which has been determined based on the payload.
3-4
"Custom setting" type
Speed and acceleration concept
"Accel." = 4.00 (m/s
The acceleration is set in m/s
2
units. The max. permissible
setting value is the max. accel.
for each robot type.
1 to 8 (8 types)
Other than TS-P : -9999.99 to 9999.99
TS-P : -9999.999 to 9999.999
0.01 to upper limit (depends on robot type)
Depends on robot type
0.01 to upper limit (depends on robot type)
Depends on robot type
1 to 100
TS-S, TS-S2, TS-SH : 1 to upper limit (depends on robot type)
TS-X, TS-P : 1 to 100
Other than TS-P : -9999.99 to 9999.99
TS-P : -9999.999 to 9999.999
Other than TS-P : 0.00 to 9999.99
TS-P : 0.000 to 9999.999
0 to 255
0 to 15
0 to 30000
Speed
"Speed" = 600.00 (mm/s)
)
2
Setting Range
The speed is specified in
"mm/s" units. The max.
permissible setting value is the
max. accel. for each robot type.
"Decel. speed" = 100%
Specified as a
percentage of the
accel. speed.
Time
*2
Units Default
-
mm
mm/s Depends on robot type
2
m/s Depends on robot type
%
*1
TS-S, TS-S2, TS-SH : Depends on robot type
%
TS-X, TS-P
mm
mm
-
-
ms
23304-M0-00
1
0.00
100
: 100
0.00
1.00
0
0
0.00