20 Troubleshooting
20.3.2.
Make adsorption and release of the work speedy
In the tracking system, adsorption confirmation of the work may be unnecessary. In that case,
processing of adsorption and release can be made speedy by the following methods.
（１）
Adjust adsorption time and release time.
Adjust the adjustment variable "PDLY1", and the value of X coordinates of "PDLY2" of the
program 1. Refer to "Table 16−1 List of Adjustment Variables in Programs" for the adjustment
method.
20.3.3.
Make movement of the robot speedy.
Adjust the following setting to make movement of the robot speedy.
（１）
Adjust the acceleration and the deceleration time for the tracking by using the parameter.
Acceleration and the deceleration of the follow operation can be done fast by reducing the
value of each element of parameter "TRPACL" and "TRPDCL".
(example)
For the robot of the RH type
(X,Y,Z,A,B,C) = (0.2, 0.2, 1.0, 1.0, 1.0, 1.0)
: X and Y are
changed.
For the robot of the RV type
(X,Y,Z,A,B,C) = (0.2, 0.2, 0.2, 1.0, 1.0, 1.0)
: X, Y, and Z are
changed.
（２）
Adjustment of the optimal acceleration-and-deceleration setting
Set mass, size, and center of gravity of the hand installed in the robot as the parameter
"HNDDAT1." And, set mass, size, and center of gravity of the work as the parameter
"WRKDAT1."
By this setting, the robot can move with the optimal acceleration and deceleration and speed.
Refer to "
Table 11−2 List of Operation Parameter" for setting method.
（３）
Adjustment of carrying height
By making low distance at adsorption and release of robot, the moving distance decreases and
motion time can be shortened as a result. Refer to the adjustment variable of "PUP1"and
"PUP2" in the "
Table 16−1 List of Adjustment Variables in Programs" for change of rise distance.
20.3.4.
The robot is too speedy and drops the work.
Since the robot's acceleration and deceleration are speedy, drop the work, adjustment is necessary.
Refer to the adjustment variable of
「
PAC1
」
to
「
PAC3
」
and
「
PAC11
」
to
「
PAC13
」
in the "
Table
16−1 List of Adjustment Variables in Programs
" for the adjustment method of the acceleration and
deceleration.
In such a case (improvement example) 20-105
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