Standard Setting" Type - Yamaha TS-S User Manual

2.1 "Standard setting" type
The optimum acceleration is automatically set simply by specifying the desired payload.
Speed and acceleration concept
"Accel." = 100%
The optimum acceleration percentage
value (%) is specified in accordance
with the movement amount and
movement speed, based on the max.
payload accel. which is automatically
set when the payload is specified.
Acceleration calculating algorithm
Max. payload accel.
(max. accel.) for 0kg payload
Max. payload accel.
for payload setting
Max. payload accel.
for max. payload
TIP
Payload settings are specified at the K76 (Payload 1) and K78 (Payload 2) servo parameters. (See section 4.2,
"Parameter details" of this manual for details.)
If 2 payloads have been set, either setting can be selected for each point data. (See the "Flag" item in section 3,
"Point data details" of this manual for details.)
Point data setting range and default settings
n
Data Item
1 RUN type 1 to 8 (8 types)
Other than TS-P
2 Position
TS-P
3 Speed 1 to 100
4 Accel. 1 to 100
5 Decel. 1 to 100
TS-S, TS-S2, TS-SH : 1 to upper limit (depends on robot type)
6 Push
TS-X, TS-P
7 Zone (-)
Other than TS-P
TS-P
8 Zone (+)
Other than TS-P
9 Near width
TS-P
10 Jump 0 to 255
11 Flag 0 to 15
12 Timer 0 to 30000
*1. The upper limit setting of the push force is the maximum push force of each model.
*2. Depending on the robot model, the point data system-of-units which appears in the User's Manual and support tools may differ
from the actual system-of-units.
Speed
"Speed" = 100%
"Speed" = 50%
2
m/s
Payload
Max. payload
setting value
weight
Setting Range
: -9999.99 to 9999.99
: -9999.999 to 9999.999
: 1 to 100
: -9999.99 to 9999.99
: -9999.999 to 9999.999
: 0.00 to 9999.99
: 0.000 to 9999.999
Specified as a percentage of
the max. speed for each
robot.
"Decel. speed" = 100%
Specified as a percentage
of the accel.
Time
Payload is set.
Max. payload accel. is automati-
cally set based on the payload.
(See fig. at left.)
Optimum accel. is calculated in
accordance with the movement amount
kg
and movement speed, based on the
Max. payload accel. at operation START.
Accel. is determined and set.
*2
Units Default
-
mm
%
%
%
*1
TS-S, TS-S2, TS-SH : Depends on robot type
%
TS-X, TS-P
mm
mm
-
-
ms
3
23302-M0-00
23303-M0-00
1
0.00
100
100
100
: 100
0.00
1.00
0
0
0.00
3-3