Push Operation - Yamaha TS-S User Manual

3.4
A push operation is performed at the positioning operation. During the push operation, the torque is limited in
accordance with the push force being used, allowing workpieces to be grasped and press-fit.
5
● Movement speed during push operation
A push operation is performed by suppressing the torque that is generated by limiting the current. Since this operation
also suppresses the current needed to move the robot, a problem may occur if the movement speed is high.
Set the push speed to meet the following conditions:
Speed during push operation ≤ 20.00 [mm/s]
n
NOTE
At Ver.1.02.102 and later controllers, the maximum push operation speed is limited according to the push speed.
Push force
n
The push force is specified as a percentage of the rated current for each robot type.
● About maximum push force
A thrust generated at the push upper limit is called "maximum push force". The maximum push force indicated in each
robot's specifications is the theoretical value (guideline). So, the accrual thrust may vary depending on working
conditions, such as friction and others.
● About push upper limit
This push upper limit shows the maximum setting value which can be set by the push force. This value is unique to
each robot.
5-18
Push operation
Push operation example
Speed
Speed
Torque
Push force
Push status (TLM-S)
Operation end (END)
Torque limit zone
Push judgment time (K5)
(K5)
Target position
Time
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