Relationships Among Mass Capacity, Speed, And Acceleration/Deceleration Speed; Setting Hand And Workpiece Conditions; Vibrations At The Tip Of The Arm During Low-Speed Operation Of The Robot - Mitsubishi Electric CR800-05VD Standard Specifications Manual

2 Robot arm

2.2.3 Relationships Among Mass Capacity, Speed, and Acceleration/Deceleration Speed

This robot automatically sets the optimum acceleration and deceleration speeds and maximum speed,
according to the load capacity and size that have been set, and operates using these automatically set
speeds.
To achieve that, it is necessary to correctly set the actual load data (mass and size of hand and work) to be
used. However, vibration, overheating and errors such as excessive margin of error and overload may
occur, depending on the robot operation pattern or ambient temperature. In such a case, change the setting
value to the +20% range.
If a setting is performed in such a way that it falls below the mounted load, the life span of the mechanism
elements used in the robot may be shortened.

(1) Setting hand and workpiece conditions

The parameters "HNDDAT*" and "WRKDAT*" are used to set the mass and size of the hand and workpiece.
The numbers 0 to 8 (nine settings) can be set in place of "*".
The default settings of these parameters after power on are "HNDDAT0" and "WRKDAT0".
The hand's mass and center of gravity position for parameter HNDDAT0 can be set with RT VisualBox.
WARNING
<Factory settings>
Hand mass
HNDDAT* =
WRKDAT* =

2.2.4 Vibrations at the Tip of the Arm during Low-Speed Operation of the Robot

Vibrations at the tip of the arm may increase substantially during the low-speed operation of the robot,
depending on the combination of robot operation, hand mass and hand inertia. This problem occurs when
the vibration count specific to the robot arm and the vibration count of the arm driving force are coming close
to each other. These vibrations at the tip of the arm can be reduced by taking the following measures:
1) Lower the robot's operating speed by approximately 5% from high speed using the Ovrd command.
2) Change and move the teaching points of the robot.
3) Change the hand mass and hand inertia.
2-16
The settings of HNDDAT* have an effect on direct teaching.
If unsatisfactory values are set in HNDDAT*, the robot may move unexpectedly
during direct teaching. The safe torque range function (STR) may also not func-
tion correctly. The force generated upon an impact may also be larger than if
the correct values were set, and errors may occur during operation.
Size X
[kg] [mm]
0.0 0.0
0.0 0.0
Size Y Size Z Center-of-grav-
ity position X
[mm] [mm]
0.0 00.0
0.0 0.0
Center-of-grav-
ity position Y
[mm] [mm]
0.0 0.0
0.0 0.0
Center-of-grav-
ity position Z
[mm]
0.0
0.0