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4.3.3 Setting Robot Acceleration and Maximum Speed for Load Conditions
a)
TH250A
Acceleration of the robot is automatically changed according to the load
conditions when the PAYLOAD command is used.
The acceleration changes with the load mass, as shown in Fig. 4.8. The vertical
line shows the acceleration. If the load mass is 3 kg, for instance, the
acceleration of axes 1, 2, and 4 is 66 % of the maximum value.
120
100
100
100
100
100
80
60
40
20
0
0
1
Load mass [kg]
Axes 1, 2, 4
Fig. 4.8
Setting of acceleration for load
mass (TH250A)
Additionally, if there is a gravity center offset of load, the acceleration and
maximum speed change as shown in Fig. 4.10 and Fig. 4.11, respectively. If the
load mass is 3 kg and gravity center offset is 70 mm, for instance, the
acceleration of axes 1 and 2 is 22 % (= 66 % × 34 %) and the maximum speed of
axes 1, 2 and 4 is 100 %.
TRANSPORTATION AND INSTALLATION MANUAL
100
100
82
66
2
3
Axis 3
– 83 –
T: Acceleration time
T
2T
0
Time
Acceleration 100%
Fig. 4.9 Acceleration changes
Acceleration 50%
STE 85389
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