YASKAWA YRC1000micro

HW1484764
Configuring Each Function
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HW1484764
3.5.3. Setting the Start and End Thresholds
You can change the start and end external force thresholds for the avoidance function by using the
following D variables.
In translation mode, the force acting on the TCP in the cartesian coordinate system is compared
with the thresholds.
Avoidance
mode
Variable
Description
Unit
Joint mode
D302 to 307
Avoidance function start threshold (joint)
ｘ0.1Nm
D314 to 319
Avoidance function end threshold (joint)
ｘ0.1Nm
Translation
mode
D310 to 313
Avoidance function start threshold (translation)
N
D372 to 375
Avoidance function end threshold (translation)
N
Refer also to the variables list in Chapter 8.
Ensure that the start threshold is always larger than the end threshold as shown below:
3.5.4. Setting the Avoidance Speed
You can change the operating speed of the avoidance function by using the following D variables.
In translation mode, the operating speed is limited to the maximum speed or maximum resultant
speed for each direction, whichever is smaller.
Avoidance mode
Variable
Description
Unit
Joint mode
D322 to 327
Maximum speed (joint)
deg/s
Translation mode
D376
Maximum resultant speed (translation)
mm/s
D377 to 379
Maximum speed (translation)
mm/s
Refer also to the variables list in Chapter 8.
NOTICE
By factory default, the TCP speed is limited to 250 mm/s.
(Time)
(Force/torque)
Start threshold
End threshold
Avoidance function
operation
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