Toshiba TH Series Instruction Manual page 63

c) Setting of PAYLOAD command
In the default state, or when the PAYLOAD command is not used, the acceleration
is set to 100 % and the servo gain is set to the value under the minimum load.
(See Para. 4.3.3.)
Be sure to use the PAYLOAD command in the following occasions.
• When the load mass exceeds 1 kg.
• When there is a gravity center offset of load.
Unless the PAYLOAD command is used, the robot will vibrate or overshoot,
resulting in shortening of the life of the mechanisms.
The moment of inertia of load should be within the tolerances given in Table 4.3.
Even if there is no gravity center offset of load, the robot may vibrate if the
moment of inertia is large. When this happens, figure out virtual gravity center
offset L [mm] from the following equation, using the moment of inertia J [kg·m
and mass M [kg].
(J × 10 6
L =
Then, designate the following.
PAYLOAD = {M, L}
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
TEACHING mode.
DO PAYLOAD = {5, 100}
EXE
Then, the servo gain is changed to the value which meets the load conditions.
TRANSPORTATION AND INSTALLATION MANUAL
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