Motion Speed Setting Parameters - YASKAWA NX100 Operator's Manual

149235-1CD
8.2

Motion Speed Setting Parameters

These parameters set the manipulator motion speed for jog operation at teaching, test operation, or
playback operation.
 S1CxG000: IN-GUARD SAFE OPERATION MAX. SPEED
Units: 0.01%
The upper speed limit is set for in-guard safe operation. While the in-guard safe operation command
signal is being input, the TCP speed is limited to the TCPmax speed.
 S1CxG001: DRY-RUN SPEED
Units: 0.01%
This is a dry-run operation speed setting value used when checking the path. Take safety into
consideration when setting changes are unnecessary.
I n- g u a r d safe
op er a tion spee d
lim it
Dry-run speed
 S1CxG002 to S1CxG009: JOINT SPEED FOR REGISTRATION
Units: 0.01%
The value set in these parameters is registered as the joint speed for each speed level when teaching
the position data with the programming pendant. The percentage corresponding to the set value at
each level is registered as 100% of the value set in the playback speed limit. Values greater than those
set as speed limit values cannot be set.
 S1CxG010 to S1CxG017: LINEAR SPEED FOR REGISTRATION
Units: 0.1mm/s
The value set in these parameters is registered as the linear speed for each speed level when teaching
the position data with the programming pendant. Values greater than those set as playback speed limit
values cannot be set.
8.2 Motion Speed Setting Parameters
Normal playback operation speed
Operation speed under in-guard
safe operation
8-2
8 Parameter
Teach-speed
Operation speed
when dry-run is
specified.
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