Toshiba THL Series Instruction Manual page 177

• When guiding manually, the robot may vibrate if the load mass or gravity center
offset is large. This is because the servo gain is not appropriate. When this
happens, perform the following operation while setting the load conditions in the
test run mode.
DO PAYLOAD = {M, L}
EXE
The servo gain is changed then to the value which meets the load conditions.
TRANSPORTATION AND INSTALLATION MANUAL
!
CAUTION
M: Mass [kg]
177
L: Offset [mm]
STE 85356