Yamaha 4-axis model User Manual
3-22
Chapter 3 Preparing the Robot
10
Setting the Robot
10-1
Setting the payload
!
CAUTION
Always input an accurate value as an incorrect value can lead to various trou-
ble including vibration and a drop in machine life.
ble including vibration and a drop in machine life.
!
CAUTION
When installing a weight other than the tool or workpiece on the robot’s moving
section, add that weight. (For example, if an air valve is fixed on the Y-axis
frame, include that weight in the payload.)
section, add that weight. (For example, if an air valve is fixed on the Y-axis
frame, include that weight in the payload.)
The optimum acceleration and servo gain, etc., are automatically set for the
cartesian robot XY-X Series by inputting the controller payload parameters.
Set the total value of the tool weight and workpiece weight as a kg unit in the
payload parameter.
cartesian robot XY-X Series by inputting the controller payload parameters.
Set the total value of the tool weight and workpiece weight as a kg unit in the
payload parameter.
■ List of payload parameters
Controller
Payload parameter
DRCX
PRM90
TRCX3
PRM130
TRCX4
PRM170
RCX40, QRCX
Robot parameter "1. Tip weight"
Refer to the following sections in the Robot Controller Instruction Manual, and
set the payload parameters.
set the payload parameters.
For DRCX or TRCX controller
Chapter 5 Parameters
For RCX40 or QRCX controller
Chapter 4 Operation > 12. System Mode > 12-1-1. Robot parameters