IAI IX Series, Operation Manual

Page: 67 / 106

61
12. Precautions for Use
When PTP operation is performed with the acceleration/deceleration set to 100%, the optimal
acceleration/deceleration function adjusts the maximum acceleration/acceleration at which the robot can
accelerate/decelerate carrying the load weight set by the WGHT command, to 100%.
Be sure to set the mass and inertial moment using the WGHT command.
Never set in the WGHT command a value smaller than the load mass installed on the vertical axis.
If such smaller value is set, the robot accelerates/decelerates at the maximum acceleration/deceleration
permitted for the applicable load weight or even higher, and consequently the SCARA robot may stop by
generating an error or break down.
Start from the appropriate reference setting for acceleration/deceleration during continuous operation, and
then gradually raise the value for the purpose of adjustment.
Operate the SCARA robot by maintaining an acceleration/deceleration appropriate for the applicable mass
and inertial moment. If not, the life of the driving part may be shortened or damage or vibration may result.
If an overload error (error code: D0A) occurs, lower the acceleration/deceleration setting or provide an
appropriate stopping time based on the reference duty for continuous operation.
Duty (%) = (Continuous operation / (Continuous ope Stopping time)) / 100
To move arm 1 or 2 of the SCARA robot horizontally at high speed, keep the vertical axis near the top
position. If such high-speed operation is performed with the vertical axis lowered, the vertical axis may
vibrate.
Be sure to keep the inertial moment and carrying load at the allowable values or less.
The carrying load represents the inertial moment and mass at the center of rotation of axis 4. If the
acceleration/deceleration is raised when the inertial moment far exceeds the allowable value, control is
disabled in the rotating direction.
Depending on the position of the vertical axis, the vertical axis may generate vibration when the inertial
moment of the load is high. If vibration occurs, lower the acceleration/deceleration.
Caution