Yamaha TS-S User Manual page 78

2. Position
Specifies the positioning target position or movement amount.
• When the "RUN type" is specified as "ABS (absolute position) ..... Target position.
• When the "RUN type" is specified as "INC (relative position) ....... Movement amount from current position.
The illustration below shows a positioning example when a "Position = 100 (mm)" point data setting has been specified.
3
3. Speed
Specifies the positioning speed.
• Standard setting ...... The speed is specified as a percentage (%) of each robot's max. speed.
• Custom setting ....... The speed is specified in mm/s units.
c
CAutIoN
In the case of push operation, make this setting so that the movement speed does not exceed 20.00 [mm/s].
4. Accel.
Specifies the positioning acceleration.
• Standard setting ...... The acceleration is specified as a percentage (%) of each operation's optimum acceleration.
• Custom setting ....... The acceleration is specified in m/s
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WARNING
pAyloAD, ACCElERAtIoN, AND DECElERAtIoN SEttINGS WhICh DIffER GREAtly fRoM thE ACtuAl vAluES WIll
RESult IN opERAtIoN tIME loSS, ShoRtEN thE RoBot lIfE, AND CAuSE vIBRAtIoN. BE SuRE to SEt thEM to
AppRopRIAtE vAluES.
5. Decel.
Specifies the positioning deceleration setting as a percentage (%) of the accel. setting value.
<Setting examples>
• For "Standard setting" with an "Accel." setting of 80% and a "Decel." setting of 70%:
80%×70% = 56% (56% of the optimum accel.).
• For "Custom setting" with an "Accel." setting of 4.00 (m/s
4.00 (m/s
6. Push
Specifies the electrical current limit value during a push operation. The push force is specified as a percentage (%) of
each robot's rated current.
c
CAutIoN
A 100% "push force" is equal to the rated current, and the thrust generated by the rated current is called the
"rated thrust". the rated thrust indicated by each robot's specifications is the theoretical (guideline) thrust when
the motor is running at its rated current. the actual thrust varies according to friction conditions, etc..
3-6
ABS and INC settings
Origin point Current position
(0) (50)
2 2
)×70% = 2.80 (m/s ).
INC setting
(movement amount = 100)
ABS setting
100 150
2
units.
2
) and a "Decel." setting of 70%:
200
Position
23306-M0-00