Arm Parameter Setting

Arm configuration parameters are provided for performing CP motions (linear) with joints being collaborated.

Setting through the Smart TP

1

Top screen - [F2 Arm] - [F12 Maintenance] - [F10 Joint Settings] - [F2 ArmSetting]

The [Arm Setting] screen appears.

2

Change each arm parameter setting, then press [OK].
For detailed information about each parameter, see "Arm parameter list" shown below.

3

Once all parameter setting change is finished, press [OK].

This will save the arm parameter setting and take you back to the [Joint Settings] screen.

Setting through WINCAPSIII

1

Operation path: [Project] - [Joint Setting Table]
The [Joint Setting] window appears.
Select the [Arm] tab.
Specify the parameters and press [OK].

2

Select [Connect] - [Transfer data] to display the [Transfer data] window.
In WINCAPSIII, select [Parameter] - [Arm parameters] to transfer the data to the controller.

Arm parameter list

Parameter name	Entry range	Factory default	Unit	Description
Speed reducing rate in manual operation	1 to 50	10	%	Limit the manual operation speed to 10 % or less of that in automatic operation.
Max trans speed	1 to 100000000	800	mm/s	Set the maximum translation speed in CP motion.
Max trans accel	1 to 100000000	2000	mm/s2	Set the maximum translation acceleration in CP motion.
Max rot speed	0.01 to 1000000	360.00	deg/s	Set the maximum rotation speed in CP motion.
Max rot accel	0.01 to 1000000	900.00	deg/s2	Set the maximum rotation acceleration in CP motion.