Yamaha YK120X, YK180X Increasing the robot operating speed, Increasing speed by arch motion

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.

(1) Increasing speed by arch motion

[Also refer to:] Robot controller owner's manual

("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: Z=0	P2

P3

MOVE P, P2 MOVE P, P3 MOVE P, P 4

P1

P4

wArch motion: Using default arch position: (2000 pulses) From point P1 to P2:

MOVE P, P2, Z=0		M1, M2, M4
	Z=0

"Axis parameters" – "Arch position"

M1 (X-axis arch position) = 2000 pulses

M3

M2 (Y-axis arch position) = 2000 pulses P1 M3 (Z-axis arch position) = 2000 pulses

M4 (R-axis arch position) = 2000 pulses

P2

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.

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