Yamaha YK120X, YK180X owner manual Increasing the speed by the OUT effective position parameter

CHAPTER 6 Increasing the robot operating speed

(4) Increasing the speed by the OUT effective position parameter

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

("Axis parameters" – "Out effective Position" in Chapter 4) Programming manual

(OUTPOS statement in "11. Command statements".)

[Example]
From P1 when chuck is open:
OUTPOS (1) = 10000 ... X-axis OUT effective position (pulses)	: Increases the OUT effective position.
OUTPOS (2) = 10000 ... Y-axis OUT effective position (pulses)
		The OUT effective position can
OUTPOS (3) = 10000 ... Z-axis OUT effective position (pulses)		be set for each axis.
		If the same OUT effective
OUTPOS (4) = 10000 ... R-axis OUT effective position (pulses)
		position is used for all axes, you
MOVE P, P2, Z=0		can write as "OUTPOS 10000".

DO3 (0) = 1 .................. Chuck closes.
OUTPOS (1)	= 2000 ..... Returns the OUT effective position to the default value.
		If the same OUT effective
OUTPOS (2)	= 2000	position is used for all
		axes, you can write as
OUTPOS (3)	= 2000
		"OUTPOS 2000".
OUTPOS (4)	= 2000

Chuck starts closing.

OUT effective position

P1P2

Chuck closed.

When all of the X, Y, Z and R axes enter the OUT effective position (10000 pulses prior to P2), the chuck starts closing.

By setting the OUT effective position larger, the chuck starts closing while the robot arm is still moving at an earlier point, so that the chuck can grip the workpiece more quickly.

The default value of the OUT effective position is 2000 (pulses).

[Reference]

Relation between X, Y, R-axis rotating angle, Z-axis movement distance and pulse values

The arch position, tolerance and OUT effective position parameters are set in pulses.

For the relation between X, Y, R-axis rotating angle, Z-axis movement distance and pulse values, refer to the tables listed under item (4) in "4. Setting the soft limits". (Chapter 4 in this manual)

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