Mitsubishi CR750-Q Series - Page 89

16 Teaching and Setting of Adjustment Variables ( “ 1 ” Program)
PAC2
When operating by the adsorption of workpiece,
the acceleration and the deceleration when
moving to the workpiece suction position are set.
X = The acceleration until moving to the
workpiece suction position. (1 to 100) (%)
Y = The deceleration until moving to the
workpiece suction position. (1 to 100) (%)
When the following values are set:
Acceleration until moving to the
workpiece suction position. : 10%
Deceleration until moving to the
workpiece suction position. : 20%
(X, Y, Z, A, B, C) =(+10,+20,+0,+0,+0,+0)
PAC3
When operating by the adsorption of workpiece,
the acceleration and the deceleration when
moving toward the position on the workpiece are
set.
X = The acceleration until moving to the position
on the workpiece. (1 to 100) (%)
Y = The deceleration until m
oving to the position
on the workpiece. (1 to 100) (%)
When the following values are set:
Acceleration until moving to the position
on the workpiece. : 50%
Deceleration until moving to the
position on the workpiece. : 80%
(X, Y, Z, A, B, C) =(+50,+80,+0,+0,+0,+0)
PAC11
When operating by the release of workpiece, the
acceleration and the deceleration when moving to
the position on the workpiece are set.
X = The acceleration until moving to the position
release position. (1 to 100) (%)
Y = The decelera
tion until moving to the position
release position. (1 to 100) (%)
When the following values are set:
Acceleration until moving to the position
on the workpiece : 80%
Deceleration until moving to the
position on the workpiece : 70%
(X, Y, Z, A, B, C) =(+80,+70,+0,+0,+0,+0)
PAC12
When operating by the release of workpiece, the
acceleration and the deceleration when moving to
the workpiece release position are set.
X = The acceleration until moving to the
workpiece release position. (1 to 100) (%)
Y = The deceleration until moving to the
workpiece release position. (1 to 100) (%)
When the following values are set:
Acceleration until moving to the
workpiece release position. : 5%
Deceleration until moving to the
workpiece release position. : 10%
(X, Y, Z, A, B, C) = (+5,+10,+0,+0,+0,+0)
PAC13
When operating by the release of workpiece, the
acceleration and the deceleration when moving
toward the position on the workpiece are set.
X = The acceleration until moving to the position
on the workpiece. (1 to 100) (%)
Y = The deceleration until moving to the position
on the workpiece. (1 to 100) (%)
When the following values are set:
Acceleration until moving to the position
on the workpiece. : 100%
Deceleration until moving to the
position on the workpiece. : 100%
(X, Y, Z, A, B, C) =
(+100,+100,+0,+0,+0,+0)
PDLY1
Set the suction time.
X: Suction time (s).
When setting 0.5 second for the sucking
time:
(X, Y, Z, A, B, C) = (+0.5,+0,+0,+0,+0,+0)
PDLY2
Set the release time.
X: Release time (s).
When setting 0.3 second for the release
time:
(X, Y, Z, A, B, C) = (+0.3,+0,+0,+0,+0,+0)
POFSET
When the adsorption position shifts, the gap can
be corrected. Set the correction value.
* The direction of the correction is a direction
of the hand coordinate system. Please decide
the correction value after changing the job
mode to "Tool", pushing the [+X] key and the
[+Y] key, and confirming the operation of the
robot.
Setting of adjustment variables in the program 16-79