Notes For Setting The Positioning Speed (Hs/Hss-G) - Denso HS-G Series General Information Manual

3.4

Notes for Setting the Positioning Speed (HS/HSS-G)

■ To be applied to all models of the HS-G series (Floor-mount type)
(1) To horizontally traverse the robot arm at high speeds, teach the robot so that Z
(2) To stabilize positioning of Z axis near its lower end, the following maximum speed
axis comes to be as close as possible to its upper end.
limiting control is automatically provided for J1 and J2 axes depending on the
Z-axis coordinate value, only when the robot is moved under PTP control.
The positioning time of J1 and J2 axes becomes longer according to the
maximum speed limit shown below.
[Movement time in J1/J2 positioning time graphs (sec.)]
For example, when the robot arm moves by SP100 from the start point (Z-axis
coordinate 26 mm) to the target point (Z-axis coordinated -74 mm), the maximum
speed limits are as follows:
91 when Z-axis coordinate is 26 mm
50 when Z-axis coordinate is -74 mm
At this time, the maximum speed is the smaller value (at the lowest end) of 50.
HS-G Series: Maximum Speed Limit on the J1 and J2 (PTP control)
Max. speed limit
Z-axis coordinate (mm)
28
x 100 (sec.)
There is no speed limit when
the hand moves only along
the Z axis (SP100).