Robot Positioning Time - Denso VP-G Series General Information Manual

3.3

Robot Positioning Time

1. Positioning time means the time from the start of robot operation to the arrival
at the target positioning point.
2. After the robot moves to and passes the target positioning point, vibration will
be dampened and the robot positioned at the target positioning point as
shown in Figure below. This vibration dampening time is not considered in the
graph.
Caution (1) The vibration dampening time depends on factors such as
the weight of the end-effector. If the robot is to be used in
such a way that it overshoots or if the vibration damping
time is of great concern, test the robot carefully beforehand.
(2) If acceleration begins before residual vibration of the robot
stops, an overcurrent error (code starts from ERROR6120;
the first digit represents the axis number) may be displayed.
In this case, take one of the following measures:
 Lower the deceleration of the preceding operation with a
DECEL command to reduce residual vibration.
 Keep the robot in stand-by with a DELAY command until
residual vibration stops.
 Lower acceleration with an ACCEL command.
(3) Operate the robot with the optimum load setting in
accordance with the end-effector weight and workpiece
weight. If not, a robot failure may result.
Vibration Dampening Time
12