Toshiba THL Series Instruction Manual page 176

c) Setting of PAYLOAD command
In the default state, or when the PAYLOAD command is not used, the maximum
speed and acceleration/deceleration are set to 100 % and the servo gain is set to
the value under the minimum load. See "Setting Maximum Speed and Robot
Acceleration/Deceleration for Load Conditions" of 16.3.3, 17.3.3 and 18.3.3.
• Be sure to use the PAYLOAD command.
• Failure to use the PAYLOAD command will cause malfunctioning of the robot or
shortening of the life of the mechanisms. In the worst case, the mechanism will be
damaged.
• Even when the PAYLOAD command is used, regulate the speed by using the
SPEED or DECEL command while confirming the workpiece behavior subject to
handling.
• Micro vibration may occur depending on the robot posture. If micro vibration
occurs, reduce the acceleration speed to use the robot.
• The load moment of inertia should be within the tolerances given in Tables 16.1,
17.1 and 18.1.
• Even if there is no offset of load gravity center, if the moment of inertia is large, the
robot may vibrate. When this happens, figure out the virtual gravity center offset
(L mm) from the following equation, using the moment of inertia (J kg·m
(M kg).
6
L = (J x 10 / M)
Then, designate the following command.
PAYLOAD = {M, L}
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