Servo Parameters; Run Parameters - Yamaha TS-S User Manual

4.1.4 Ser vo parameters
• Controller setting TS-X TS-SH
No. Name
74 Absolute setting
• Adjustment
No. Name
76 Payload 1
*1
77 Max. payload accel.1
78 Payload 2
*2
79 Max. payload accel.2
*1. When "payload 1" (K76) is registered, this setting is converted to a value calculated by the prescribed formula.
*2. When "payload 2" (K78) is registered, this setting is converted to a value calculated by the prescribed formula.
*3. 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.
• Stop mode TS-S TS-S2 TS-SH
No. Name
123 Stop mode setting
Stop mode
124
switching time
Holding current
125
during stop
4.2 Parameter details
The parameters described below can be adjusted to conform to the actual application and usage conditions.
4.2.1 RUN parameters
• Positioning related parameters
K1 Soft limit (-)
K2 Soft limit (+)
Function
Specifies the robot movement range. K1 specifies the minus-side limit, and K2 specifies the plus-side limit. Although the
robot's effective stroke is factory-set as the soft limit when shipped, it should be changed if necessary to avoid collisions
with obstacles, etc.
w
WARNING
Soft lIMIt fuNCtIoN IS Not A SAfEty-RElAtED fuNCtIoN INtENDED to pRotECt thE huMAN BoDy.
to REStRICt thE RoBot MovEMENt RANGE to pRotECt thE huMAN BoDy, uSE thE MEChANICAl StoppERS INStAllED IN thE
RoBot (oR AvAIlABlE AS optIoNS).
TIP
The plus and minus directions differ according to the "origin coordi." (K15) setting. For soft limit details, see section
7.1, "Soft limit function", in Chapter 5.
K3 In-position
Function
Specifies the range in which end-of-positioning is recognized.
K4 Push mode
Function
Specifies the push operation following a push judgment, and specifies the push failure judgment ("nothing was pushed" judgment).
Setting / Setting Range
0: Disable 1: Enable
Setting / Setting Range
0 to max. payload (K47)
-
0 to max. payload (K47)
-
Setting / Setting Range
0 to 1
0 to 5000
0 to 100
Setting Range
Other than TS-P : -9999.99 to 9999.99
TS-P : -9999.999 to 9999.999
Setting Range
Other than TS-P : 0.01 to 1.00
TS-P : 0.001 to 1.000
Setting Range
0 to 3
Units Default
- 1
*3
Units Default
kg Depends on robot type
2
m/s Depends on robot type
kg Depends on robot type
2
m/s Depends on robot type
Units Default
- 0
ms 200
% Depends on robot type
Default Units
Depends on robot type mm
Default Units
Other than TS-P : 0.01
mm
TS-P : 0.001
Default Units
0 -
Restart
Required
Restart
-
-
-
-
3
Restart
-
-
-
Restar
-
Restart
-
Restart
-
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