Denso HS-4535G, General Information Manual

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3.4 Notes for Setting the Positioning Speed (HS/HSS-G)
■ To be applied to all models of the HS-G series (Floor-mount type)
(1) To horizontally traverse the robot arm at high speeds, teach the robot so that Z
axis comes to be as close as possible to its upper end.
(2) To stabilize positioning of Z axis near its lower end, the following maximum speed
limiting control is automatically provided for J1 and J2 axes depending on the
Z-axis coordinate value, only when the robot is moved under PTP control.
The positioning time of J1 and J2 axes becomes longer according to the
maximum speed limit shown below.
[Movement time in J1/J2 positioning time graphs (sec.)]
x 100 (sec.)
Max. speed limit
For example, when the robot arm moves by SP100 from the start point (Z-axis
coordinate 26 mm) to the target point (Z-axis coordinated -74 mm), the maximum
speed limits are as follows:
91 when Z-axis coordinate is 26 mm
50 when Z-axis coordinate is -74 mm
At this time, the maximum speed is the smaller value (at the lowest end) of 50.
HS-G Series: Maximum Speed Limit on the J1 and J2 (PTP control)
Z-axis coordinate (mm)
There is no speed limit when
the hand moves only along
the Z axis (SP100).
Max.
sp
eed
limit (C
onve
rted
to
SP
va
lue)