Notes For Setting The Positioning Speed (Hm/Hms-G Series) - Denso Faber HM-G Series General Information Manual

3.4

Notes for Setting the Positioning Speed (HM/HMS-G series)

■ To be applied to all models of the HM-G series (Floor-mount type)
(1) To horizontally traverse the robot arm at high speeds, teach the robot so that Z axis
comes to be as close as possible to its upper end.
(2) To stabilize positioning of Z axis near its lower end, the following maximum speed
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.
For example, when the robot arm moves by SP100 from the start point (Z-axis
coordinate 100 mm) to the target point (Z-axis coordinated 0 mm), the maximum
speed limits are as follows:
At this time, the maximum speed is the smaller value (at the lowest end) of 35.
[Movement time in J1/J2 positioning time graphs (sec.)]
Max. speed limit
75 when Z-axis coordinate is 100 mm
35 when Z-axis coordinate is 0 mm
HM-G Series: Maximum Speed Limit on the J1 and J2 (PTP control)
32
x 100 (sec.)