YASKAWA YRC1000 Operator's Manual

Also see for YRC1000: Instructions Instructions Instructions Instructions Collaborative Operation Instructions

Contents

YASKAWA YRC1000 Operator's Manual Manual pdf 42 page image

1 Material Handling, Press Tending, Cutting, and Other Applications1.3 Weaving Operation1-341.3.2.3 Explanation RBn [1]Be sure to choose one of the following tags. WEV# (Weaving condition file number)/AMP [2] = Weaving half-amplitude [3]Be sure to choose one of the following tags. FREQ = Weaving frequency [4]Only when “AMP = Weaving half-amplitude” is selected in the above“WEV# (Weaving condition file number)/AMP [2] = Weaving half-amplitude [3]” , be sure to add the following tag. ANGL = Weaving angle [5]Only when “AMP = Weaving half-amplitude” is selected in the above“WEV# (Weaving condition file number)/AMP [2] = Weaving half-amplitude [3]” , this tag is added or omitted after “FREQ = Weavingfrequency [4]”Tag Explanation NoteRBn Specifies the weaving motionof robot 1 to 8.Tag Explanation NoteWEV#(Weavingconditionfile number)Specifies the weavingcondition file number.Conditions for the weavingmotion are registered in theweaving condition file.No. 1 to 16The number can bespecified by B/I/D/LB/LI/LD variable.AMP =Weavinghalf-amplitudeSpecifies the half-amplitude ofweaving.Half-amplitude: 0.1 to 99.9mmThe half-amplitude can bespecified by B/B[ ]/LB/LB[ ]/I/I[ ]/LI/LI[ ]/D/D[ ]/LD/LD[ ] variable.(Unit: 0.1 mm)Tag Explanation NoteFREQ =WeavingfrequencySpecifies the weavingfrequency.Frequency: 0.1 to 5.0 HzThe frequency can bespecified by B/I/D/B[ ]/I[ ]/D[ ]/LB/LI/LD/LB[ ]/LI[ ]/LD[ ] variable.(Unit: 0.1 Hz)Tag Explanation NoteANGL =WeavingangleSpecifies the weaving angle. Angle: 0.0 to 180.0 degreeThe degree can bespecified by B/I/D/B[ ]/I[ ]/D[ ]/LB/LI/LD/LB[ ]/LI[ ]/LD[ ] variable.(Unit: 0.1)