Yamaha TS-P User Manual page 108

5.3 Positioning operation
Setting the "Speed", "Accel.", and "Decel." data
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(1) When using the "Standard setting" point type
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The "Speed" and "Accel." settings are specified as a percentage of the optimal
positioning speed and acceleration values for each robot type, based on
that robot's maximum speed and maximum payload acceleration values. The
"Decel." is specified as a percentage of the "Accel." setting.
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Speed
Speed
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(2) When using the "Custom setting" point type
The "Speed" and "Accel." settings are specified by adopting the maximum
speed and acceleration (max. payload acceleration with 0kg payload)
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values for each robot type as the maximum setting values. If the specified
acceleration value exceeds the max. payload acceleration defined by the
payload setting, the max. payload acceleration value is used as the setting
value.
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Speed
Speed
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Selecting "Standard setting" or "Custom setting"
Select "Standard setting", or "Custom setting" as the Point Type setting at the initial
processing performed by the TS-Manager support software (optional).
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Chapter 5 Operation
"Speed" setting range: 1 to 100 [%]
When 100%, the max. speed is
1200.00 [mm/s].
Acceleration
"Acceleration setting range: 1 to 100 [%]
When 100%, the max. payload accel.
is 4.00 [m/s ].
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"Speed" setting range: 0.01 to 1200.00 [mm/s]
The max. setting value is the max.
speed of each robot type.
Acceleration
"Acceleration setting range: 0.01 to 8.00 [m/s
The max. input value is the max.
speed of each robot type.
The max. acceleration is the max.
payload acceleration.
Max. speed = 1200.00 [mm/s]
Max. acceleration = 8.00 [m/s
Max. payload acceleration = 4.00 [m/s
Deceleration
"Deceleration" setting range: 1 to 100 [%]
Set as a percentage of the
acceleration value.
Time
Max. speed = 1200.00 [mm/s]
Max. acceleration = 8.00 [m/s
Max. payload acceleration = 4.00 [m/s
Deceleration
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"Deceleration" setting range: 1 to 100 [%]
Set as a percentage of the acceleration value.
Time
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