Toshiba TH850A Instruction Manual page 76

5.3.3 Setting Maximum Speed and Robot Acceleration/Deceleration for Load Conditions
When the PAYLOAD command is used, the maximum speed and
acceleration/deceleration of the robot are automatically changed according to the load
conditions. The maximum speed and acceleration/deceleration change with the load
mass, as shown in Fig. 5.8 and Fig. 5.9. Setting of the maximum speed and
acceleration/deceleration is the same for both TH850A and TH1050A.
100
90
80
70
60
50
40
30
20
Acceleration/deceleration
10
Maximum speed"
0
0 2 4 6 8 10 12 14 16 18 20 22
Setting of maximum speed and acceleration/deceleration
in relation to load mass (Axis 1)
100
90
80
70
60
50
40
30
20
Acceleration/deceleration
10
Maximum speed
0
0 2 4 6 8 10 12 14 16 18 20 22
Setting of maximum speed and acceleration/deceleration
in relation to load mass (Axis 3)
Fig. 5.8 Setting of maximum speed and acceleration/deceleration in relation to load mass
(TH850 and TH1050A)
TRANSPORTATION AND INSTALLATION MANUAL
Load (kg)
Load (kg)
100
90
80
70
60
50
40
30
20
10
0
0 2 4 6 8 10 12 14 16 18 20 22
Setting of maximum speed and acceleration/deceleration in
relation to load mass (Axis 2)
100
90
80
70
60
50
40
30
20
10
0
0 2 4 6 8 10 12 14 16 18 20 22
Setting of maximum speed and acceleration/deceleration in
relation to load mass (Axis 4)
– 73 –
Acceleration/deceleration
Maximum speed"
Load (kg)
Acceleration/deceleration
Maximum speed
Load (kg)
STE80753