Load Conditions And Program Setting - Toshiba TH Series Instruction Manual

4.3.2

Load Conditions and Program Setting

Even if the tool load conditions are within the permissible values listed in Table 4.3,
acceleration and servo gain that are adequate for the load conditions should be set. If
this setting is inadequate, the robot may vibrate or overshoot, resulting in reduction of
the robot life.
The TH series can automatically change the acceleration and servo gain according to
the load conditions by using the PAYLOAD command in the program. The specific
method for using this function is explained below.
a) PAYLOAD command
The PAYLOAD command format is written as shown below if the tool mass is M
kg and the gravity center is L mm.
PAYLOAD = {M, L}
M :
L :
The PAYLOAD command has the following functions.
• The acceleration of each robot axis is automatically changed according to the
set load conditions.
• The servo gain of each robot axis is automatically changed according to the
set load conditions.
b) Example programs
The basic programs using the PAYLOAD command are exemplified below. For
further information, see the Robot Language Manual.
(Example program 1)
The robot is moved under the load conditions of 2 kg mass and 30 mm gravity
center offset.
PROGRAM SAMPLE
SPEED= 100
PAYLOAD={2,30}
MOVE A
MOVE B
STOP
END
TRANSPORTATION AND INSTALLATION MANUAL
Load mass (unit: kg)
Gravity center offset (unit: mm)
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