2 The Servofloat Function. YASKAWA MOTOMAN DX100

DX100

3 Servofloat Condition Files

3.2

Linear Servofloat Condition File

3.2.2 Linear Servofloat Condition Setting

A

B

C

D

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A. COORDINATE

Sets a coordinate system for the linear servofloat function.

Select the ROBOT coordinates, BASE coordinates, USER coordinates or

TOOL coordinates.

The selection dialog box appears by pressing [SELECT]. Select a coordinate system to be set.

B. FUNC

Enables/Disables the linear servofloat function for each axis.

“ z ” indicates that the function is enabled; “ disabled.

{ ” indicates that the function is

Pressing [SELECT] switches between “ z ” and “ { ”.

C. (+) MAX. FORCE / (-) MAX. FORCE

Limits the amount of force generated for keeping control of the position of each axis.

When the linear servofloat is enabled, a force bigger than this set value is not generated.

The smaller the value is set, the more easily a set coordinate axis can be moved by an external force.

However, if the set value is less than the manipulator friction, the manipulator may not move.

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