Yamaha YK180X, YK120X owner manual e Arch motion Making the arch position value larger

Arch position can be set for each axis.

If the same arch position value (pulses) is used for all axes, you can write as "ARCH 2000".

CHAPTER 6 Increasing the robot operating speed

eArch motion: Making the arch position value larger

In the arch motion w, making the arch position value larger can further shorten the cycle time. Since the robot arm moves along a larger arc, use caution to avoid obstacles if they are located near the arm movement path.

The arch position parameter can be set for each axis.

rArch motion: changing the arch positions in the program From point P1 to P2 and then to P3:

ARCH (1) = 10000 ... X-axis arch position (pulses) ARCH (2) = 20000 ... Y-axis arch position (pulses) ARCH (3) = 20000 ... Z-axis arch position (pulses) ARCH (4) = 20000 ... R-axis arch position (pulses) MOVE P, P2, Z=0

ARCH (1) = 2000

ARCH (2) = 2000

ARCH (3) = 2000

ARCH (4) = 2000 MOVE P, P3, Z=100

Since the arch positions can be changed in the program, optimizing the arch po- sitions can further shorten the cycle time.

Arch position: large

Z=0

Arch position: small

Z=100

P1 P2 P3

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