Yamaha Robotics YK120X User Manual
6-1
CHAPTER 6 Increasing the robot operating speed
1
Increasing the robot operating speed
The robot operating speed can be increased by the following methods.
Use these methods as needed when programming.
Use these methods as needed when programming.
(1) Increasing speed by arch motion
[Also refer to:]
[Also refer to:]
Robot controller owner's manual
("Axis parameters" – "Arch position" in Chapter 4)
Programming manual
(ARCH statement in "11. Command statements".)
("Axis parameters" – "Arch position" in Chapter 4)
Programming manual
(ARCH statement in "11. Command statements".)
q Gate motion
From point P1 to P4 via P2 and P3:
MOVE P, P2
MOVE P, P3
MOVE P, P 4
MOVE P, P2
MOVE P, P3
MOVE P, P 4
w Arch motion: Using default arch position: (2000 pulses)
From point P1 to P2:
MOVE P, P2, Z=0
MOVE P, P2, Z=0
"Axis parameters" – "Arch position"
M1 (X-axis arch position) = 2000 pulses
M2 (Y-axis arch position) = 2000 pulses
M3 (Z-axis arch position) = 2000 pulses
M4 (R-axis arch position) = 2000 pulses
M1 (X-axis arch position) = 2000 pulses
M2 (Y-axis arch position) = 2000 pulses
M3 (Z-axis arch position) = 2000 pulses
M4 (R-axis arch position) = 2000 pulses
When the Z-axis moves upward from P1 and enters the M3 arch position range
(2000 pulses prior to Z=0), the X, Y and R axes begin to move. When these 3 axes
enter the M1, M2 and M4 arch position range (2000 pulses prior to P2), the Z-
axis moves downward to P2. Compared with the gate motion q, this arch motion
shortens the cycle time approximately 20% by moving the robot arm along an
arc.
(2000 pulses prior to Z=0), the X, Y and R axes begin to move. When these 3 axes
enter the M1, M2 and M4 arch position range (2000 pulses prior to P2), the Z-
axis moves downward to P2. Compared with the gate motion q, this arch motion
shortens the cycle time approximately 20% by moving the robot arm along an
arc.
Z=0
P2
P1
P3
P4
Z=0
M1, M2, M4
P1
M3
P2