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Maximum payload acceleration and the payload
■
The maximum payload acceleration varies according to the payload setting. The
optimum "maximum payload acceleration" is determined based on the robot's
registered payload weight. Two "maximum payload acceleration" settings can be
selected by "flag" acceleration selection.
m/s
Max. payload accel.
(max. accel.) for 0kg payload
Max. payload accel.
for payload setting
Max. payload accel.
for max. payload
Relationship between "maximum payload acceleration" and "acceleration"
■
In the "Standard setting" point type, the acceleration is optimized within the
maximum payload acceleration, based on the positioning speed and movement
distance. The "acceleration" and "maximum payload acceleration" are the same
in cases where the actual operation speed reaches the robot's maximum speed,
but in all other cases, the optimum acceleration is calculated for the positioning
operation.
In the "Custom setting" point type, the specified acceleration setting becomes
the actual operation acceleration unless it exceeds the maximum payload
acceleration. In that case, it is limited by the maximum payload acceleration (the
operation acceleration cannot exceed the maximum payload acceleration).
Accel. 1
Accel. 2
Accel. 1 = [max. payload accel.] × [accel. data] / 100
Accel. 2 = optimized value based on accel. 1
<With standard setting>
Setting the speed override
■
When required for safety during trial operation, etc., the overall positioning
operation speed can be adjusted by the K9 (Speed Override) parameter setting.
The actual operation speed will be as shown below.
Speed = speed data specified at each point data
2
Payload
Max. payload weight
setting value
100%
30%
5.3 Positioning operation
kg
Accel. 1
Accel. 2
Accel. 1 = accel. 2 = accel. data
<With custom setting>
speed override (K9) / 100
×
Chapter 5 Operation
1
2
3
4
5
1200.00mm/s
6
360.00mm/s
7
5-11
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