Increasing The Speed With The Weight Statement - Yamaha YK-XR Series Installation Manual

1.2

Increasing the speed with the WEIGHT statement

[Also refer to:]
Robot controller user's manual
("Controller system settings" in Chapter 7) (11.4 Robot parameters Tip weight)
Programming manual
("Robot Language Lists" in Chapter 8) (WEIGHT)
[Example]
From P1 when chuck is open:
WEIGHT 5 ............... Changes the tip weight parameter to 5kg (no workpiece).
MOVE P, P2, Z=0
DO3 (0) = 1 ............ Chuck closes.
WEIGHT 10 ............. Changes the tip weight parameter to 10kg (with workpiece).
MOVE P, P3, Z=0
In the above program, the acceleration can be set to a higher level by reducing the tip weight parameter to 5kg while the
chuck does not grip any workpiece, and then set to a lower level by changing the tip weight parameter to 10kg while the
chuck grips a workpiece. Compared to programs using a tip weight parameter left set at 10kg, this method shortens the
cycle time since the acceleration is increased.
Increasing the speed with the WEIGHT statement
Z=0
P1
Chuck opens.
No workpiece
P2
Chuck closes.
Chuck is gripping workpiece.
Chuck 5kg
Workpiece 5kg
P3
6
23604-F0
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