Denso RC5 Specifikace stáhnout pdf (Strana 672)

100

101

22-20

196

J4 brake lock setting

(For VM-6083D/

VM-60B1D and VS-E

series)

If the J4 overrides its software motion

limit when the brake is released:

0: Will lock the J4 brake

1: Will not lock the J4 brake

(Ver. 1.7 or later)

197 Setting of TCP speed

pattern

(Note 1)

Last value at

powering-off

0: Conventional speed control

1: Constant TCP speed

(Tool end

speed in CP motion)

(Ver. 1.8 or later)

198 Restoration of

TOOL/WORK data

(Note 2)

Last value at

powering-off

0: No resume

1: Resume

(Ver. 1.8 or later)

199 Arc interpolation

approved value of

easy teaching

100 100 Positional error allowance for arc

motion in easy teaching

Do not change

this setting if

not necessary.

(Ver. 1.8 or

later)

Note 1: If you specify a CP motion involving the rotation of the robot hand, then the system will

automatically decrease the TCP speed (Tool end speed in CP motion) according to the rotation angle by

default. This causes some problems that the robot does not run in the specified speed or at constant speed.

In Version 1.8 or later, it is possible to keep the TCP speed constant by setting Parameter No. 197 to 1. If

you specify such a motion that will exceed the rotation speed limit, then the system will issue a warning

message and run the robot while increasing/decreasing the TCP speed.

Note 2: In earlier versions, the system will not retain TOOL/WORK coordinates declared or defined in

programs if the power is turned off. Accordingly, to make a same job, you need to set up the same

operation environments every time when restarting the robot.

Setting Parameter No. 198 to 1 will make the system retain those operation environments. When the power

is on, they will be resumed.

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