Push Force Of The Vertical Axis - IAI IX Series Operation Manual

12.2 Push Force of the Vertical Axis

Set the push force of the vertical axis by referring to the graph below.
IX arm length 500/600
Relationship of push force and push
torque limit during positioning
Push torque limit during positioning (%)
Push-motion operating speed: 10 mm/sec
Caution
x Use the PUSH command to perform push-motion operation involving the vertical axis. If push-motion
operation is performed without using the PUSH command, the life of the driving part may be shortened or
damage or vibration may result.
x Push force can be changed by driver card parameter No. 38, "Torque limit during positioning."
x When performing push-motion operation, keep the speed to 10 mm/sec or below.
If the speed exceeds 10 mm/sec, provide a shock-reducing mechanism to keep the vertical axis from
receiving shock.
x The graph of push force and push torque limit during positioning shows characteristics when no load is
installed on the vertical axis. In downward push-motion operation, the applicable push force increases by
the load mass.
In upward push-motion operation with the inverse specification, the applicable push force decreases by the
load mass.
x Push force is controlled by servo motor current. No control is implemented based on feedback of push
force.
x Push force is subject to a variation of approx. r5%.
62
IX arm length 700/800
Relationship of push force and push
torque limit during positioning
Push torque limit during positioning (%)
Push-motion operating speed: 10 mm/sec