S2C051 To S2C114: Cube Using Method - YASKAWA NX100 Operator's Manual
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S2C051 to S2C114: CUBE USING METHOD
These parameters specify the coordinates for defining the cube. If the user coordinates are selected,
also specify the user coordinate system numbers. Set cubic area referring to the cubic interference
areas shown below.
Coordinate specification
0 :
Pulse (axis interference)
1 :
Base coordinates
2 :
Robot coordinates
3 :
User coordinates
Coordinate No.: Specify the user coordinate number when selecting "3: User Coordinates."
Units: 1μm
Precaution When Setting the Interference Area
SUPPLE
-MENT
It will be necessary to consider the following when setting the cubic interference and S-axis
interference areas. The manipulator is processed to decelerate to stop from the point
where it enters in the area. Therefore, set the areas in consideration of the amount of the
manipulator movement in the deceleration section shown in the figure below.
The move amount in the speed reduction section is dependent on the moving speed of the
manipulator at that time:
8.4 Parameters according to Interference Area
Deceleration
Speed
Movement
Speed reduction section
V = 1500mm/s approx. 300mm (Max.)
V = 1000mm/s approx. 160mm
V = 30mm/s approx. 3 to 4 mm
V = 20mm/s approx. 2mm
8-30
Interference area
Stop
RE-CSO-A031
8 Parameter
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