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2-7
Setting the operating conditions
2-7-1
Payload
Optimal robot acceleration is automatically set in YAMAHA single-axis robots by setting the
controller payload parameters. Set the total weight of the workpiece and the end effectors such as
grippers attached to the robot slider in the payload parameter as shown below.
CAUTION
Be sure to enter an accurate value when making this setting, since a mistake will
cause troubles such as vibration or a shorter machine service life span.
To set the payload parameter
Use the following method to set the payload parameter on a single-axis robot controller (SCRX).
When setting this parameter on other controllers (DRCX, QRCX, RCX40) refer to their control-
ler instruction manuals.
1) Connect the programming box (DPB) to the single-
axis robot controller (SCRX).
2) Press
3) Next, press
4) The current setting for the No. 0 parameter (robot
type No.) appears on the screen.
Press
eters. Find the payload parameter (PRM3).
5) When the payload parameter appears, use the number
key to enter the payload value and press the Enter
key.
on the initial screen display.
F 3
(PRM).
F 1
STEP
STEP
or
to scroll through the param-
UP
DOWN
2-39
Chapter 2 Installation and Connections
[MENU]
select menu
1EDIT
2OPRT
[SYS]
select menu
1PRM
2B.UP
[SYS-PRM]
PRM0 = 20
Robot Type
read only
[SYS-PRM]
PRM3 = 10_ [kg]
payload
range
0→MAX
3SYS
4MON
3INIT
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