Servo Parameters - Yamaha TS-S User Manual

4.2.3 Ser vo parameters
• Controller setting
K74
Function
Sets the absolute function enabled or disabled.
Settings
Setting value
3
• Adjustment
K76
Function
Specifies the maximum weight of objects (tools, workpieces, etc.) which can be mounted on the robot. Based on this
setting, the maximum acceleration (max. payload accel. 1 (K77)) for each robot type is automatically calculated and set.
w
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.
TIP
For payload details, see section 7.4, "Changing the payload", in Chapter 5.
K77
Function
Specifies the maximum payload acceleration defined by the "Payload 1" (K76) parameter. This is a "read only" parameter.
K78
Function
Specifies the maximum weight of objects (tools, workpieces, etc.) which can be mounted on the robot. The maximum
acceleration (max. payload accel. 2 (K79)) for each robot type is automatically calculated and set based on this setting.
w
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.
TIP
For payload details, see section 7.4, "Changing the payload", in Chapter 5.
K79
Function
Specifies the maximum payload acceleration defined by the "Payload 2" (K78) parameter. This is a "read only" parameter.
• Stop mode
K123
Function
Specifies the stop mode.
3-16
TS-X TS-SH
Absolute setting
Description
0 Disable
1 Enable
Payload 1
Max. payload accel. 1
Payload 2
Max. payload accel. 2
TS-S TS-S2 TS-SH
Stop mode setting
Setting Range
0 to 1
Setting Range
0 to ... (depends on robot type)
Setting Range
-
Setting Range
0 to ... (depends on robot type)
Setting Range
-
Setting Range
0 to 1
Default Units Restart
1 - Required
Default Units Restart
Depends on robot type kg
Default Units Restart
2
Depends on robot type m/s
Default Units Restart
Depends on robot type kg
Default Units Restart
2
Depends on robot type m/s
Default Units Restart
0 -
-
-
-
-
-