S1Cxg018 To S1Cxg025: Position Angle Speed - YASKAWA NX100 Operator's Manual

8 Parameter
8.2 Motion Speed Setting Parameters


S1CxG018 to S1CxG025: POSITION ANGLE SPEED

Units: 0.1°/s
The value set in these parameters is registered as the position angle speed for each speed level when
teaching the position data with the programming pendant. Values greater than those set as playback
speed limit cannot be set.
 S1CxG026 to S1CxG029: JOG OPERATION ABSOLUTE VALUE
SPEED
Units: 0.1mm/s
These are setting values of jog operation speed set by the programming pendant. Values greater than
those set as jog operation speed limit value cannot be set.
Low level
Medium level
High level
High-speed-level
 S1CxG030 to S1CxG032: INCHING MOVE AMOUNT
These parameters specify the amount per move at inching operation by the programming pendant.
The referenced parameter differs according to the operation mode at inching operation.
Joint Operation
Cartesian/cylindrical, user, tool
Motion about TCP
 S1CxG033 to S1CxG040: POSITIONING ZONE
This parameter value will be referenced when positioning is specified with the "MOVE" instruction:
MOVJ (joint movement) or MOVL (linear movement).
<Example> MOVL V=100.0 PL=1
The value set in this parameter specifies the range to enter in relation to the teaching point for that step
positioning. After entering the specified positioning zone, the manipulator starts moving to the next
step. The system is also set up so inward turning operation is carried out in the moving section when
moving to the next path; speed changeover is smooth.
Since operation will be turning inward during playback, as shown in the following diagram, use setting
values taking safety aspects into consideration.
P
1
l
P
1
P
1
: Jog operation speed when "LOW" manual speed is specified.
: Jog operation speed when "MEDIUM" manual speed is specified.
: Jog operation speed when "HIGH" manual speed is specified.
: Jog operation speed when [HIGH SPEED] is pressed.
: 1 to 10 pulses in units of 1 pulse
: 0.01 to 2.55mm in units of 0.01mm
: 0.1 to 1.0° in units of 0.1°
Positioning level
Positioning specification
P
1
l
1
l
2
l
3
l
4
l
8
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