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5
Precautions for Use
5.1
Reference Acceleration/Deceleration Settings
Use the robot based on appropriate acceleration/deceleration settings by referring to the following graph:
(1) PTP operation (Set using the SEL language commands ACCS and DCLS.)
Caution
Acceleration/deceleration settings are common to arm lengths of 250 and 350 mm.
To operate the robot at the maximum acceleration/deceleration, provide a stopping period of three
seconds or more after each acceleration/deceleration.
To operate axes 1 and 2 simultaneously at full stroke, use the reference settings for
acceleration/deceleration during continuous operation as the reference settings for maximum
acceleration/deceleration. Actual acceleration/deceleration during continuous operation should be one-
third the appropriate reference setting for continuous operation.
Start from the appropriate reference setting for acceleration/deceleration during continuous operation,
and then gradually raise the value for the purpose of adjustment.
If an overload error occurs, lower the acceleration/deceleration setting as appropriate or provide an
appropriate stopping time following each acceleration/deceleration.
Depending on the position of the vertical axis, the robot may generate vibration when axis 1, axis 2 or
the rotational axis turns. If vibration occurs, lower the acceleration/deceleration as appropriate.
To move the robot horizontally at high speed, keep the vertical axis as close as possible to the top
position. If the vertical axis is operated at the bottom position, the spline shaft for the ball screw will
bend and the vertical axis will be disabled.
Keep the permissible moment of inertia of axis 4 to 0.015 kg m or less.
The carrying load indicates a load above the rotational center of axis 4.
Operate the robot by using an appropriate acceleration/deceleration coefficient as determined by the
mass of the tip. Failure to do so may cause the drive part to wear prematurely or may result in damage
or vibration.
Reference acceleration/deceleration
settings for PTP operation
100
80
60
Reference range of
maximum setting
40
20
Reference range for
continuous operation setting
0
0
1
2
Carrying load mass (kg)
3
21
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