Yamaha 4-axis model, 3-axis model Setting the acceleration, List of acceleration parameters

Chapter 3 Preparing the Robot

10-3 Setting the acceleration

The acceleration is automatically set for the Cartesian robot XY-X Series when the payload parameter is set, so large vibration will not occur during operation. However, if the tool or workpiece is greatly offset from the robot, vibration may occur especially during positioning.

In this case, lower the controller's acceleration setting.

Lowering the acceleration is also effective if tool or workpiece vibration occurs due to a low tool rigidity.

■List of acceleration parameters

Controller	Acceleration parameter
DRCX	X-axis PRM51	Y-axis PRM91
TRCX3	X-axis PRM51	Y-axis PRM91 Z-axis PRM131
TRCX4	X-axis PRM51	Y-axis PRM91 Z-axis PRM131
	R-axis PRM171

RCX40, QRCX Axis parameter "1. Acceleration coefficient"

Refer to the following sections in the Robot Controller Instruction Manual, and change the acceleration.

For DRCX or TRCX controller

Chapter 5 Parameters

For RCX40 or QRCX controller

Chapter 4 Operation > 12. "System" Mode > 12-1-2. Axis parameters

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