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b)
TH350A
Acceleration of the robot is automatically changed according to the load
conditions when the PAYLOAD command is used.
The acceleration changes with the load mass, as shown in Fig. 4.12. The
vertical line shows the acceleration. If the load mass is 3 kg, for instance, the
acceleration of axes 1, 2 and 4 is 70 %.
Fig. 4.12 Setting of acceleration for load mass (TH350A)
Additionally, if there is a gravity center offset of load, the acceleration changes as
shown in Fig. 4.13.
If the load mass is 3 kg and gravity center offset is 70 mm, for instance, the
acceleration of axes 1, 2 and 4 is 21 % (= 70 % × 30 %).
TRANSPORTATION AND INSTALLATION MANUAL
120
100
100
100
100
100
80
60
40
20
0
0
1
Load mass [kg]
Axes 1,2,4
– 86 –
100
100
85
70
2
3
Axis 3
STE 85389
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