Optimizing The Overload Level - Mitsubishi Electric CR750-Q Instruction Manual

Step
4 Add some margin (e.g. 20%) to the maximum value for each joint axis obtained in step 3. Then set this
value as the argument of the ColLvl command.
5 Set the value obtained in step 4 to the ColLvl command and run the program to check that no erroneous
detection occurs at the operation for which the collision detection function is used. If interference is errone-
ously detected, gradually increase the value of the argument of the ColLvl command to lower the detection
level until no erroneous detection occurs.

5.22 Optimizing the overload level

When the actual ambient temperature of the robot in use is 40°C or less, the overload error detection level
(function which protects the motor from overheating), which activates during robot movement, can be opti-
mized to match the working environment. Set the actual ambient temperature in parameter: OLTMX. The
continuous operability improve.
[Available robot type] RH-F series/RV-F series
Parameter: OLTMX is explained in
If the robot's ambient temperature is controlled to 40°C or less, set the actual ambient temperature in this
parameter to utilize the robot effectively.
Table 5-26:Related parameters
Parameter
Parameter
Optimization of OLTMX
overload detec-
tion level
Note1) Caution for setting ambient temperature
If the robot's ambient temperature varies through the year, set the maximum temperature. If a
temperature lower than the actual temperature is set, a motor overheat error could occur before the
overload error occurs.
The effect of the ambient temperature parameter change on the continuous operability differs by the
model and moving axis.
The continuous operability may not change even if the parameter is changed.
Table 5-26.
No. of arrays
name No. of characters
Integer 1
Description
Details explanation
Set the upper limit of the ambient temperature for the
robot's working environment.
The overload detection level for robot movement is
optimized based on this setting value. (Unit: °C)
Setting range: 0-40
5Functions set with parameters
Factory setting
RH-3FH/6FH/
Note1) 12FH/20FH: 40
RV-2F series: 40
RV-4F/7F/13F/
20F/50F series,
RH-3FHR: 30
Optimizing the overload level 5-521