c)
TH180
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. 4.14. The
vertical line shows the acceleration. If the load mass is 2 kg, for instance, the
acceleration of axes 1 and 2 is 79 %.
Fig. 4.14 Setting of acceleration for load mass (TH180)
Additionally, if there is a gravity center offset of load, the acceleration changes as
shown in Fig. 4.15.
If the load mass is 2 kg and gravity center offset is 50 mm, for instance, the
acceleration is 31 % (= 79 % × 40 %).
TRANSPORTATION AND INSTALLATION MANUAL
125
100
100
100
75
50
25
0
0
1
Load mass [kg]
Axes 1,2
Axis 3
– 88 –
100
91
83
79
1.5
2
Axis 4
STE 85389