Load Conditions And Program Setting - Toshiba TV800 Instruction Manual

5.3.2

Load Conditions and Program Setting

This robot can automatically change the maximum speed, acceleration/deceleration
and servo gain by using the PAYLOAD command in the program according to the load
conditions.
Be sure to use the PAYLOAD command.
The specific method for using this function is explained below.
a) PAYLOAD command format
The PAYLOAD command format is written as shown below if the tool mass is M
kg and the gravity center offset is G mm.
PAYLOAD = {M, Gx,Gy,Gz}
M :
Gx: Center-of-gravity offset in the X direction (Units in mm: Absolute value)
Gy: Center-of-gravity offset in the Y direction (Units in mm: Absolute value)
Gz: Center-of-gravity offset in the Z direction (Units in mm: Absolute value)
TRANSPORTATION AND INSTALLATION MANUAL
Fig. 5.7 Robot tool
Load mass (unit: kg)
(Gx,Gy,Gz)
– 77 –
Mechanical interface
z
coordinate system
y
STE 80745
x