Yamaha YK-X Series User Manual page 166

CHAPTER 6 Increasing the robot operating speed
(3) Increasing the speed by the tolerance parameter
[Also refer to:] Robot controller user's manual
("Axis parameters" – "Tolerance" in Chapter 4)
Programming manual
(TOLE statement in "11. Command statements".)
[Example]
From P1 to P3 via P2
TOLE (1) = 2048 ... X-axis tolerance (pulses) : Increases the tolerance.
TOLE (2) = 2048 ... Y-axis tolerance (pulses)
TOLE (3) = 2048 ... Z-axis tolerance (pulses)
TOLE (4) = 2048 ... R-axis tolerance (pulses)
MOVE P, P2
TOLE (1) = 80 ....... Returns the tolerance to the default value.
TOLE (2) = 80
TOLE (3) = 80
TOLE (4) = 80
MOVE, P, P3
When P2 is an escape point and does not need to be accurately positioned, setting
the tolerance parameter to a larger value allows the robot arm to pass through P2
quickly. The larger the tolerance value for the positioning time, the shorter the
cycle time will be. The maximum value of the tolerance parameter is 2048 (pulses)
and the default is 80 (pulses).
6-4
P2
P1
Tolerance can be set for each axis.
If the same tolerance is used for all
axes, you can write as "TOLE
2048".
If the same tolerance is used for all
axes, you can write as "TOLE 80".
P3