Toshiba TV800 Instruction Manual page 79

The PAYLOAD command has the following functions.
• The maximum speed and acceleration/deceleration of each robot axis are
automatically changed according to the set load conditions.
• The servo gain of each robot axis is automatically changed according to the
set load conditions.
b) Program examples
Basic program examples using the PAYLOAD command are shown below. For
further information, see the Robot Language Manual.
(Program example 1)
The robot is moved under the load conditions of 5 kg mass and
(50mm,50mm,50mm) gravity center offset.
PROGRAM SAMPLE
SPEED=100
PAYLOAD={5,50,50,50}
MOVE P1
MOVE P2
STOP
END
(Program example 2)
When the hand mass is 3 kg and the gravity center offset is (0mm,0mm,30 mm)
and the mass is 5 kg and gravity center offset is (30mm,0mm,50 mm) when the
workpiece is grasped.
Pick-and-place operation is executed under the above conditions.
PROGRAM SAMPLE
PAYLOAD={3,0,0,20}
ACCUR=COARSE
ENABLE NOWAIT
RESET DOUT
MOVE P0
DOUT(1)
WAIT DIN(1)
LOOP:
MOVE P1+POINT(0,0,100)
IF DIN(-1)THEN GOTO FIN
MOVE P1
WAIT MOTION>=100
DOUT(213)
DELAY 1
TRANSPORTATION AND INSTALLATION MANUAL
– 78 –
STE 80745