Yamaha 4-axis model Setting the Robot, Setting the payload, List of payload parameters

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.

!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.)

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.

■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.

For DRCX or TRCX controller

Chapter 5 Parameters

For RCX40 or QRCX controller

Chapter 4 Operation > 12. System Mode > 12-1-1. Robot parameters

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